openpilot v0.9.3 release

date: 2023-06-16T05:25:00 master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
openpilot v0.9.2 release
2026-08-25 02:03:43 +08:00 · 2023-06-30 15:42:10 -07:00 · 2023-05-23 22:20:03 -07:00 · 2023-02-23 14:29:12 -08:00 · 2022-11-21 16:30:34 -08:00
734 changed files with 22268 additions and 10320 deletions
@@ -46,12 +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/

@@ -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-needs-can", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+          ["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' } }
@@ -115,8 +153,8 @@ pipeline {
              ["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"],
+              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
            ])
          }
@@ -137,28 +175,24 @@ pipeline {
          steps {
            phone_steps("tici-common", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.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 pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.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"],
            ])
          }
        }

-        stage('camerad-ar') {
+        stage('camerad') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
-            phone_steps("tici-ar0321", [
+            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"],
            ])
-          }
-        }
-
-        stage('camerad-ox') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
            phone_steps("tici-ox03c10", [
              ["build", "cd selfdrive/manager && ./build.py"],
              ["test camerad", "python system/camerad/test/test_camerad.py"],
@@ -172,11 +206,11 @@ pipeline {
          steps {
            phone_steps("tici-lsmc", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.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 selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.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 200+ 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).
@@ -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         # 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 +1,64 @@
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+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
@@ -5,6 +5,10 @@ import sysconfig
 import platform
 import numpy as np

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

@@ -71,10 +75,10 @@ if arch == "aarch64" and AGNOS:
 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,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }

@@ -118,7 +122,7 @@ else:
      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",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
@@ -131,7 +135,7 @@ else:
    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:
@@ -197,10 +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",
@@ -282,7 +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":
@@ -298,20 +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",
@@ -384,10 +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')
@@ -395,21 +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'])
@@ -417,31 +432,18 @@ 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'])

-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
  SConscript(['tools/replay/SConscript'])
-
-  opendbc = abspath([File('opendbc/can/libdbc.so')])
-  Export('opendbc')
  SConscript(['tools/cabana/SConscript'])

-if GetOption('test'):
-  SConscript('panda/tests/safety/SConscript')
-
 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
  SConscript([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/
@@ -8,7 +8,7 @@ messaging_dir = Dir('messaging')

 # Build cereal

-schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp']
+schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
 env.Command(["gen/c/include/c++.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
            schema_files,
@@ -26,8 +26,10 @@ services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_di

 messaging_objects = env.SharedObject([
  'messaging/messaging.cc',
+  'messaging/event.cc',
  'messaging/impl_zmq.cc',
  'messaging/impl_msgq.cc',
+  'messaging/impl_fake.cc',
  'messaging/msgq.cc',
  'messaging/socketmaster.cc',
 ])
@@ -7,3 +7,4 @@ capnp.remove_import_hook()

 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
 car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
@@ -23,7 +23,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  enum EventName @0xbaa8c5d505f727de {
    canError @0;
    steerUnavailable @1;
-    brakeUnavailable @2;
    wrongGear @4;
    doorOpen @5;
    seatbeltNotLatched @6;
@@ -34,7 +33,7 @@ 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;
@@ -43,10 +42,10 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    overheat @19;
    calibrationIncomplete @20;
    calibrationInvalid @21;
+    calibrationRecalibrating @117;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
-    noTarget @25;
    radarFault @26;
    brakeHold @28;
    parkBrake @29;
@@ -66,7 +65,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    lowBattery @48;
    vehicleModelInvalid @50;
    accFaulted @51;
-    accFaultedTemp @115;
    sensorDataInvalid @52;
    commIssue @53;
    commIssueAvgFreq @109;
@@ -115,6 +113,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    canBusMissing @111;
    controlsdLagging @112;
    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -138,6 +138,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    modelLagWarningDEPRECATED @93;
    startupOneplusDEPRECATED @82;
    startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
+    brakeUnavailableDEPRECATED @2;
  }
 }

@@ -164,6 +166,8 @@ struct CarState {
  # gas pedal, 0.0-1.0
  gas @3 :Float32;        # this is user pedal only
  gasPressed @4 :Bool;    # this is user pedal only
+  
+  engineRpm @46 :Float32;

  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
@@ -185,6 +189,7 @@ struct CarState {
  stockFcw @31 :Bool;
  espDisabled @32 :Bool;
  accFaulted @42 :Bool;
+  carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable

  # cruise state
  cruiseState @10 :CruiseState;
@@ -205,9 +210,6 @@ 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
@@ -267,9 +269,11 @@ struct CarState {
    }
  }

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

 # ******* radar state @ 20hz *******
@@ -278,9 +282,6 @@ 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;
@@ -304,6 +305,9 @@ struct RadarData @0x888ad6581cf0aacb {
    # some radars flag measurements VS estimates
    measured @6 :Bool;
  }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
 }

 # ******* car controls @ 100hz *******
@@ -317,6 +321,9 @@ 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
@@ -334,8 +341,12 @@ 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;
@@ -346,7 +357,6 @@ struct CarControl {
      stopping @2;
      starting @3;
    }
-
  }

  struct CruiseControl {
@@ -459,7 +469,7 @@ struct CarParams {
  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
  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
@@ -574,10 +584,10 @@ 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;
-    stellantisDEPRECATED @25;  # Consolidated with Chrysler; may be recycled for the next new model
+    volkswagenMlb @25;
    hongqi @26;
    body @27;
    hyundaiCanfd @28;
@@ -586,6 +596,7 @@ struct CarParams {
  enum SteerControlType {
    torque @0;
    angle @1;
+    curvature @2;
  }

  enum TransmissionType {
@@ -605,6 +616,8 @@ struct CarParams {
    request @5 :List(Data);
    brand @6 :Text;
    bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
  }

  enum Ecu {
@@ -623,10 +636,11 @@ struct CarParams {
    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
@@ -635,10 +649,8 @@ struct CarParams {
    # Chrysler only
    hcp @18;  # Hybrid Control Processor

-    # Hyundai only
-    vcu @20;  # Vehicle (Motor) Control Unit
-
    debug @17;
+    unused @22;
  }

  enum FingerprintSource {
@@ -0,0 +1,39 @@
+using Cxx = import "./include/c++.capnp";
+$Cxx.namespace("cereal");
+
+@0xb526ba661d550a59;
+
+# custom.capnp: a home for empty structs reserved for custom forks
+# These structs are guaranteed to remain reserved and empty in mainline
+# cereal, so use these if you want custom events in your fork.
+
+# you can rename the struct, but don't change the identifier
+struct CustomReserved0 @0x81c2f05a394cf4af {
+}
+
+struct CustomReserved1 @0xaedffd8f31e7b55d {
+}
+
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+}
+
+struct CustomReserved3 @0xda96579883444c35 {
+}
+
+struct CustomReserved4 @0x80ae746ee2596b11 {
+}
+
+struct CustomReserved5 @0xa5cd762cd951a455 {
+}
+
+struct CustomReserved6 @0xf98d843bfd7004a3 {
+}
+
+struct CustomReserved7 @0xb86e6369214c01c8 {
+}
+
+struct CustomReserved8 @0xf416ec09499d9d19 {
+}
+
+struct CustomReserved9 @0xa1680744031fdb2d {
+}
@@ -3,6 +3,7 @@ $Cxx.namespace("cereal");

 using Car = import "car.capnp";
 using Legacy = import "legacy.capnp";
+using Custom = import "custom.capnp";

@0xf3b1f17e25a4285b;

@@ -16,6 +17,12 @@ struct Map(Key, Value) {
  }
 }

+enum LongitudinalPersonality {
+  aggressive @0;
+  standard @1;
+  relaxed @2;
+}
+
 struct InitData {
  kernelArgs @0 :List(Text);
  kernelVersion @15 :Text;
@@ -46,6 +53,7 @@ struct InitData {
    chffrIos @3;
    tici @4;
    pc @5;
+    tizi @6;
  }

  struct PandaInfo {
@@ -139,16 +147,6 @@ struct FrameData {
  targetGreyFraction @22 :Float32;
  exposureValPercent @27 :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;
-
  transform @10 :List(Float32);

  image @6 :Data;
@@ -165,12 +163,20 @@ struct FrameData {
  sensor @26 :ImageSensor;
  enum ImageSensor {
    unknown @0;
-    ar0321 @1;
+    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;
@@ -327,6 +333,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  nvmeTempC @35 :List(Float32);
  modemTempC @36 :List(Float32);
  pmicTempC @39 :List(Float32);
+  maxTempC @44 :Float32;  # max of other temps, used to control fan
  thermalZones @38 :List(ThermalZone);
  thermalStatus @14 :ThermalStatus;

@@ -409,10 +416,16 @@ struct PandaState @0xa7649e2575e4591e {
  powerSaveEnabled @16 :Bool;
  uptime @17 :UInt32;
  faults @18 :List(FaultType);
-  harnessStatus @21 :HarnessStatus;
  heartbeatLost @22 :Bool;
  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;
@@ -428,6 +441,9 @@ struct PandaState @0xa7649e2575e4591e {
  alternativeExperience @23 :Int16;
  safetyRxChecksInvalid @32 :Bool;

+  voltage @0 :UInt32;
+  current @1 :UInt32;
+
  enum FaultStatus {
    none @0;
    faultTemp @1;
@@ -460,6 +476,8 @@ struct PandaState @0xa7649e2575e4591e {
    interruptRateExti @22;
    interruptRateSpi @23;
    interruptRateUart7 @24;
+    sirenMalfunction @25;
+    heartbeatLoopWatchdog @26;
    # Update max fault type in boardd when adding faults
  }

@@ -482,15 +500,6 @@ struct PandaState @0xa7649e2575e4591e {
    flipped @2;
  }

-  startedSignalDetectedDEPRECATED @5 :Bool;
-  voltageDEPRECATED @0 :UInt32;
-  currentDEPRECATED @1 :UInt32;
-  hasGpsDEPRECATED @6 :Bool;
-  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
-  safetyParamDEPRECATED @20 :Int16;
-  safetyParam2DEPRECATED @26 :UInt32;
-
  struct PandaCanState {
    busOff @0 :Bool;
    busOffCnt @1 :UInt32;
@@ -525,6 +534,13 @@ struct PandaState @0xa7649e2575e4591e {
      noChange @7;
    }
  }
+
+  startedSignalDetectedDEPRECATED @5 :Bool;
+  hasGpsDEPRECATED @6 :Bool;
+  fanSpeedRpmDEPRECATED @11 :UInt16;
+  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
+  safetyParamDEPRECATED @20 :Int16;
+  safetyParam2DEPRECATED @26 :UInt32;
 }

 struct PeripheralState {
@@ -543,7 +559,6 @@ struct PeripheralState {
 }

 struct RadarState @0x9a185389d6fdd05f {
-  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
  carStateMonoTime @11 :UInt64;
  radarErrors @12 :List(Car.RadarData.Error);
@@ -578,10 +593,11 @@ 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;
@@ -593,10 +609,19 @@ struct LiveCalibrationData {
  rpyCalib @7 :List(Float32);
  rpyCalibSpread @8 :List(Float32);
  wideFromDeviceEuler @10 :List(Float32);
+  height @12 :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 {
@@ -614,7 +639,6 @@ struct LiveTracks {

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

@@ -654,10 +678,12 @@ 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 {
@@ -742,6 +768,18 @@ 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;
@@ -778,6 +816,18 @@ 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 {
@@ -813,16 +863,6 @@ struct ModelDataV2 {
  # Model perceived motion
  temporalPose @21 :Pose;

-  # 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);
-  }

  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
@@ -905,13 +945,17 @@ struct EncodeIndex {
  len @9 :UInt32;

  enum Type {
-    bigBoxLossless @0;   # rcamera.mkv
-    fullHEVC @1;         # fcamera.hevc
-    bigBoxHEVC @2;       # bcamera.hevc
-    chffrAndroidH264 @3; # acamera
-    fullLosslessClip @4; # prcamera.mkv
-    front @5;            # dcamera.hevc
-    qcameraH264 @6;      # qcamera.ts
+    bigBoxLossless @0;
+    fullHEVC @1;
+    qcameraH264 @6;
+    livestreamH264 @7;
+
+    # deprecated
+    bigBoxHEVCDEPRECATED @2;
+    chffrAndroidH264DEPRECATED @3;
+    fullLosslessClipDEPRECATED @4;
+    frontDEPRECATED @5;
+
  }
 }

@@ -938,6 +982,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
  jerks @34 :List(Float32);

  solverExecutionTime @35 :Float32;
+  personality @36 :LongitudinalPersonality;

  enum LongitudinalPlanSource {
    cruise @0;
@@ -981,6 +1026,11 @@ 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;
@@ -1086,6 +1136,9 @@ struct LiveLocationKalman {
  deviceStable @22 :Bool = true;
  timeSinceReset @23 :Float64;
  excessiveResets @24 :Bool;
+  timeToFirstFix @25 :Float32;
+
+  filterState @26 : Measurement;

  enum Status {
    uninitialized @0;
@@ -1153,18 +1206,27 @@ 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;
@@ -1177,34 +1239,41 @@ 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;
+  }
 }

 struct UbloxGnss {
@@ -1214,6 +1283,20 @@ 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 {
@@ -1307,7 +1390,7 @@ struct UbloxGnss {

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

    svAcc @30 :Float64;
@@ -1324,6 +1407,9 @@ struct UbloxGnss {
    ionoAlpha @38 :List(Float64);
    ionoBeta @39 :List(Float64);

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

  struct IonoData {
@@ -1378,6 +1464,49 @@ 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 {
@@ -1810,7 +1939,6 @@ struct LiveParametersData {
  stiffnessFactor @4 :Float32;
  steerRatio @5 :Float32;
  sensorValid @6 :Bool;
-  yawRate @7 :Float32;
  posenetSpeed @8 :Float32;
  posenetValid @9 :Bool;
  angleOffsetFastStd @10 :Float32;
@@ -1818,6 +1946,8 @@ struct LiveParametersData {
  stiffnessFactorStd @12 :Float32;
  steerRatioStd @13 :Float32;
  roll @14 :Float32;
+
+  yawRateDEPRECATED @7 :Float32;
 }

 struct LiveTorqueParametersData {
@@ -1865,6 +1995,8 @@ struct CameraOdometry {
  rotStd @3 :List(Float32); # std rad/s in device frame
  wideFromDeviceEuler @6 :List(Float32);
  wideFromDeviceEulerStd @7 :List(Float32);
+  roadTransformTrans @8 :List(Float32);
+  roadTransformTransStd @9 :List(Float32);
 }

 struct Sentinel {
@@ -1951,6 +2083,30 @@ 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;
@@ -1961,6 +2117,15 @@ 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;
@@ -1994,6 +2159,7 @@ struct Event {
    carControl @23 :Car.CarControl;
    longitudinalPlan @24 :LongitudinalPlan;
    lateralPlan @64 :LateralPlan;
+    uiPlan @106 :UiPlan;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@@ -2010,6 +2176,7 @@ 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;
@@ -2020,6 +2187,13 @@ struct Event {
    wideRoadEncodeIdx @77 :EncodeIndex;
    qRoadEncodeIdx @90 :EncodeIndex;

+    livestreamRoadEncodeIdx @117 :EncodeIndex;
+    livestreamWideRoadEncodeIdx @118 :EncodeIndex;
+    livestreamDriverEncodeIdx @119 :EncodeIndex;
+
+    # microphone data
+    microphone @103 :Microphone;
+
    # systems stuff
    androidLog @20 :AndroidLogEntry;
    managerState @78 :ManagerState;
@@ -2034,6 +2208,7 @@ struct Event {
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
    navThumbnail @84: Thumbnail;
+    mapRenderState @105: MapRenderState;

    # UI services
    userFlag @93 :UserFlag;
@@ -2046,6 +2221,22 @@ struct Event {
    wideRoadEncodeData @88 :EncodeData;
    qRoadEncodeData @89 :EncodeData;

+    livestreamRoadEncodeData @120 :EncodeData;
+    livestreamWideRoadEncodeData @121 :EncodeData;
+    livestreamDriverEncodeData @122 :EncodeData;
+
+    # *********** Custom: reserved for forks ***********
+    customReserved0 @107 :Custom.CustomReserved0;
+    customReserved1 @108 :Custom.CustomReserved1;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
+    customReserved6 @113 :Custom.CustomReserved6;
+    customReserved7 @114 :Custom.CustomReserved7;
+    customReserved8 @115 :Custom.CustomReserved8;
+    customReserved9 @116 :Custom.CustomReserved9;
+
    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
    liveMpcDEPRECATED @36 :LiveMpcData;
@@ -1,5 +1,5 @@
 # must be build with scons
-from .messaging_pyx import Context, Poller, SubSocket, PubSocket  # pylint: disable=no-name-in-module, import-error
+from .messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event  # pylint: disable=no-name-in-module, import-error
 from .messaging_pyx import MultiplePublishersError, MessagingError  # pylint: disable=no-name-in-module, import-error
 import os
 import capnp
@@ -12,6 +12,11 @@ from cereal.services import service_list

 assert MultiplePublishersError
 assert MessagingError
+assert toggle_fake_events
+assert set_fake_prefix
+assert get_fake_prefix
+assert delete_fake_prefix
+assert wait_for_one_event

 NO_TRAVERSAL_LIMIT = 2**64-1
 AVG_FREQ_HISTORY = 100
@@ -27,9 +32,20 @@ except ImportError:

 context = Context()

+
+def fake_event_handle(endpoint: str, identifier: Optional[str] = None, override: bool = True, enable: bool = False) -> SocketEventHandle:
+  identifier = identifier or get_fake_prefix()
+  handle = SocketEventHandle(endpoint, identifier, override)
+  if override:
+    handle.enabled = enable
+
+  return handle
+
+
 def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
  return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)

+
 def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
  dat = log.Event.new_message()
  dat.logMonoTime = int(sec_since_boot() * 1e9)
@@ -41,11 +57,13 @@ def new_message(service: Optional[str] = None, size: Optional[int] = None) -> ca
      dat.init(service, size)
  return dat

+
 def pub_sock(endpoint: str) -> PubSocket:
  sock = PubSocket()
  sock.connect(context, endpoint)
  return sock

+
 def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
  sock = SubSocket()
@@ -75,6 +93,7 @@ def drain_sock_raw(sock: SubSocket, wait_for_one: bool = False) -> List[bytes]:

  return ret

+
 def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.capnp._DynamicStructReader]:
  """Receive all message currently available on the queue"""
  ret: List[capnp.lib.capnp._DynamicStructReader] = []
@@ -114,18 +133,21 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._

  return dat

+
 def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive()
  if dat is not None:
    dat = log_from_bytes(dat)
  return dat

+
 def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
  dat = sock.receive(non_blocking=True)
  if dat is not None:
    dat = log_from_bytes(dat)
  return dat

+
 def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
  """Keep receiving until we get a message"""
  while True:
@@ -133,6 +155,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
    if dat is not None:
      return log_from_bytes(dat)

+
 class SubMaster:
  def __init__(self, services: List[str], poll: Optional[List[str]] = None,
               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
@@ -247,6 +270,7 @@ class SubMaster:
           and self.all_freq_ok(service_list=service_list) \
           and self.all_valid(service_list=service_list)

+
 class PubMaster:
  def __init__(self, services: List[str]):
    self.sock = {}
@@ -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) {
@@ -0,0 +1,208 @@
+#include <cassert>
+#include <cstring>
+#include <cstdlib>
+#include <iostream>
+#include <string>
+#include <exception>
+#include <filesystem>
+
+#include <sys/eventfd.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <unistd.h>
+#include <poll.h>
+#include <signal.h>
+#include <fcntl.h>
+
+#include "cereal/messaging/event.h"
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {
+  const char* op_prefix = std::getenv("OPENPILOT_PREFIX");
+
+  std::string full_path = "/dev/shm/";
+  if (op_prefix) {
+    full_path += std::string(op_prefix) + "/";
+  }
+  full_path += CEREAL_EVENTS_PREFIX + "/";
+  if (identifier.size() > 0) {
+    full_path += identifier + "/";
+  }
+  std::filesystem::create_directories(full_path);
+  full_path += endpoint;
+
+  int shm_fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664);
+  if (shm_fd < 0) {
+    throw std::runtime_error("Could not open shared memory file.");
+  }
+
+  int rc = ftruncate(shm_fd, sizeof(EventState));
+  if (rc < 0){
+    close(shm_fd);
+    throw std::runtime_error("Could not truncate shared memory file.");
+  }
+
+  char * mem = (char*)mmap(NULL, sizeof(EventState), PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0);
+  close(shm_fd);
+  if (mem == nullptr) {
+    throw std::runtime_error("Could not map shared memory file.");
+  }
+
+  if (shm_mem != nullptr)
+    *shm_mem = mem;
+  if (shm_path != nullptr)
+    *shm_path = full_path;
+}
+
+SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
+  char *mem;
+  event_state_shm_mmap(endpoint, identifier, &mem, &this->shm_path);
+
+  this->state = (EventState*)mem;
+  if (override) {
+    this->state->fds[0] = eventfd(0, EFD_NONBLOCK);
+    this->state->fds[1] = eventfd(0, EFD_NONBLOCK);
+  }
+}
+
+SocketEventHandle::~SocketEventHandle() {
+  close(this->state->fds[0]);
+  close(this->state->fds[1]);
+  munmap(this->state, sizeof(EventState));
+  unlink(this->shm_path.c_str());
+}
+
+bool SocketEventHandle::is_enabled() {
+  return this->state->enabled;
+}
+
+void SocketEventHandle::set_enabled(bool enabled) {
+  this->state->enabled = enabled;
+}
+
+Event SocketEventHandle::recv_called() {
+  return Event(this->state->fds[0]);
+}
+
+Event SocketEventHandle::recv_ready() {
+  return Event(this->state->fds[1]);
+}
+
+void SocketEventHandle::toggle_fake_events(bool enabled) {
+  if (enabled)
+    setenv("CEREAL_FAKE", "1", true);
+  else
+    unsetenv("CEREAL_FAKE");
+}
+
+void SocketEventHandle::set_fake_prefix(std::string prefix) {
+  if (prefix.size() == 0) {
+    unsetenv("CEREAL_FAKE_PREFIX");
+  } else {
+    setenv("CEREAL_FAKE_PREFIX", prefix.c_str(), true);
+  }
+}
+
+std::string SocketEventHandle::fake_prefix() {
+  const char* prefix = std::getenv("CEREAL_FAKE_PREFIX");
+  if (prefix == nullptr) {
+    return "";
+  } else {
+    return std::string(prefix);
+  }
+}
+
+Event::Event(int fd): event_fd(fd) {}
+
+void Event::set() const {
+  throw_if_invalid();
+
+  uint64_t val = 1;
+  size_t count = write(this->event_fd, &val, sizeof(uint64_t));
+  assert(count == sizeof(uint64_t));
+}
+
+int Event::clear() const {
+  throw_if_invalid();
+
+  uint64_t val = 0;
+  // read the eventfd to clear it
+  read(this->event_fd, &val, sizeof(uint64_t));
+
+  return val;
+}
+
+void Event::wait(int timeout_sec) const {
+  throw_if_invalid();
+
+  int event_count;
+  struct pollfd fds = { this->event_fd, POLLIN, 0 };
+
+  struct timespec timeout = { timeout_sec, 0 };
+
+  sigset_t signals;
+  sigfillset(&signals);
+  sigdelset(&signals, SIGALRM);
+  sigdelset(&signals, SIGINT);
+  sigdelset(&signals, SIGTERM);
+  sigdelset(&signals, SIGQUIT);
+
+  event_count = ppoll(&fds, 1, timeout_sec < 0 ? nullptr : &timeout, &signals);
+
+  if (event_count == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  } else if (event_count < 0) {
+    throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
+  }
+}
+
+bool Event::peek() const {
+  throw_if_invalid();
+
+  int event_count;
+  struct pollfd fds = { this->event_fd, POLLIN, 0 };
+
+  // poll with timeout zero to return status immediately
+  event_count = poll(&fds, 1, 0);
+
+  return event_count != 0;
+}
+
+bool Event::is_valid() const {
+  return event_fd != -1;
+}
+
+int Event::fd() const {
+  return event_fd;
+}
+
+int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) {
+  struct pollfd fds[events.size()];
+  for (size_t i = 0; i < events.size(); i++) {
+    fds[i] = { events[i].fd(), POLLIN, 0 };
+  }
+
+  struct timespec timeout = { timeout_sec, 0 };
+
+  sigset_t signals;
+  sigfillset(&signals);
+  sigdelset(&signals, SIGALRM);
+  sigdelset(&signals, SIGINT);
+  sigdelset(&signals, SIGTERM);
+  sigdelset(&signals, SIGQUIT);
+
+  int event_count = ppoll(fds, events.size(), timeout_sec < 0 ? nullptr : &timeout, &signals);
+
+  if (event_count == 0) {
+    throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
+  } else if (event_count < 0) {
+    throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
+  }
+
+  for (size_t i = 0; i < events.size(); i++) {
+    if (fds[i].revents & POLLIN) {
+      return i;
+    }
+  }
+
+  throw std::runtime_error("Event poll failed, no events ready");
+}
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#define CEREAL_EVENTS_PREFIX std::string("cereal_events")
+
+void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path);
+
+enum EventPurpose {
+  RECV_CALLED,
+  RECV_READY
+};
+
+struct EventState {
+  int fds[2];
+  bool enabled;
+};
+
+class Event {
+private:
+  int event_fd = -1;
+
+  inline void throw_if_invalid() const {
+    if (!this->is_valid()) {
+      throw std::runtime_error("Event does not have valid file descriptor.");
+    }
+  }
+public:
+  Event(int fd = -1);
+
+  void set() const;
+  int clear() const;
+  void wait(int timeout_sec = -1) const;
+  bool peek() const;
+  bool is_valid() const;
+  int fd() const;
+
+  static int wait_for_one(const std::vector<Event>& events, int timeout_sec = -1);
+};
+
+class SocketEventHandle {
+private:
+  std::string shm_path;
+  EventState* state;
+public:
+  SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true);
+  ~SocketEventHandle();
+
+  bool is_enabled();
+  void set_enabled(bool enabled);
+  Event recv_called();
+  Event recv_ready();
+
+  static void toggle_fake_events(bool enabled);
+  static void set_fake_prefix(std::string prefix);
+  static std::string fake_prefix();
+};
@@ -0,0 +1,9 @@
+#include "cereal/messaging/impl_fake.h"
+
+void FakePoller::registerSocket(SubSocket *socket) {
+  this->sockets.push_back(socket);
+}
+
+std::vector<SubSocket*> FakePoller::poll(int timeout) {
+  return this->sockets;
+}
@@ -0,0 +1,67 @@
+#pragma once
+
+#include <cassert>
+#include <iostream>
+#include <string>
+#include <vector>
+#include <filesystem>
+
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/event.h"
+
+template<typename TSubSocket>
+class FakeSubSocket: public TSubSocket {
+private:
+  Event *recv_called = nullptr;
+  Event *recv_ready = nullptr;
+  EventState *state = nullptr;
+
+public:
+  FakeSubSocket(): TSubSocket() {}
+  ~FakeSubSocket() {
+    delete recv_called;
+    delete recv_ready;
+    if (state != nullptr) {
+      munmap(state, sizeof(EventState));
+    }
+  }
+
+  int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) override {
+    const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX");
+
+    char* mem;
+    std::string identifier = cereal_prefix != nullptr ?  std::string(cereal_prefix) : "";
+    event_state_shm_mmap(endpoint, identifier, &mem, nullptr);
+
+    this->state = (EventState*)mem;
+    this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]);
+    this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]);
+
+    return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint);
+  }
+
+  Message *receive(bool non_blocking=false) override {
+    if (this->state->enabled) {
+      this->recv_called->set();
+      this->recv_ready->wait();
+      this->recv_ready->clear();
+    }
+
+    return TSubSocket::receive(non_blocking);
+  }
+};
+
+class FakePoller: public Poller {
+private:
+  std::vector<SubSocket*> sockets;
+
+public:
+  void registerSocket(SubSocket *socket) override;
+  std::vector<SubSocket*> poll(int timeout) override;
+  ~FakePoller() {};
+};
@@ -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 +1,10 @@
 #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"
+#include "cereal/messaging/impl_fake.h"

 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;
@@ -22,6 +23,11 @@ bool messaging_use_zmq(){
  return false;
 }

+bool messaging_use_fake(){
+  char* fake_enabled = std::getenv("CEREAL_FAKE");
+  return fake_enabled != NULL;
+}
+
 Context * Context::create(){
  Context * c;
  if (messaging_use_zmq()){
@@ -34,11 +40,20 @@ Context * Context::create(){

 SubSocket * SubSocket::create(){
  SubSocket * s;
-  if (messaging_use_zmq()){
-    s = new ZMQSubSocket();
+  if (messaging_use_fake()) {
+    if (messaging_use_zmq()) {
+      s = new FakeSubSocket<ZMQSubSocket>();
+    } else {
+      s = new FakeSubSocket<MSGQSubSocket>();
+    }
  } else {
-    s = new MSGQSubSocket();
+    if (messaging_use_zmq()){
+      s = new ZMQSubSocket();
+    } else {
+      s = new MSGQSubSocket();
+    }
  }
+
  return s;
 }

@@ -49,8 +64,10 @@ SubSocket * SubSocket::create(Context * context, std::string endpoint, std::stri
  if (r == 0) {
    return s;
  } else {
+    std::cerr << "Error, failed to connect SubSocket to " << endpoint << ": " << strerror(errno) << std::endl;
+
    delete s;
-    return NULL;
+    return nullptr;
  }
 }

@@ -61,6 +78,7 @@ PubSocket * PubSocket::create(){
  } else {
    s = new MSGQPubSocket();
  }
+
  return s;
 }

@@ -71,17 +89,23 @@ PubSocket * PubSocket::create(Context * context, std::string endpoint, bool chec
  if (r == 0) {
    return s;
  } else {
+    std::cerr << "Error, failed to bind PubSocket to " << endpoint << ": " << strerror(errno) << std::endl;
+
    delete s;
-    return NULL;
+    return nullptr;
  }
 }

 Poller * Poller::create(){
  Poller * p;
-  if (messaging_use_zmq()){
-    p = new ZMQPoller();
+  if (messaging_use_fake()) {
+    p = new FakePoller();
  } else {
-    p = new MSGQPoller();
+    if (messaging_use_zmq()){
+      p = new ZMQPoller();
+    } else {
+      p = new MSGQPoller();
+    }
  }
  return p;
 }
@@ -94,20 +118,3 @@ 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 +6,35 @@ from libcpp.vector cimport vector
 from libcpp cimport bool


-cdef extern from "messaging.h":
+cdef extern from "cereal/messaging/impl_fake.h":
+  cdef cppclass Event:
+    @staticmethod
+    int wait_for_one(vector[Event], int) except +
+
+    Event()
+    Event(int)
+    void set()
+    int clear()
+    void wait(int) except +
+    bool peek()
+    int fd()
+
+  cdef cppclass SocketEventHandle:
+    @staticmethod
+    void toggle_fake_events(bool)
+    @staticmethod
+    void set_fake_prefix(string)
+    @staticmethod
+    string fake_prefix()
+
+    SocketEventHandle(string, string, bool)
+    bool is_enabled()
+    void set_enabled(bool)
+    Event recv_called()
+    Event recv_ready()
+
+
+cdef extern from "cereal/messaging/messaging.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -3,8 +3,11 @@

 import sys
 from libcpp.string cimport string
+from libcpp.vector cimport vector
 from libcpp cimport bool
 from libc cimport errno
+from libc.string cimport strerror
+from cython.operator import dereference


 from .messaging cimport Context as cppContext
@@ -12,16 +15,105 @@ from .messaging cimport SubSocket as cppSubSocket
 from .messaging cimport PubSocket as cppPubSocket
 from .messaging cimport Poller as cppPoller
 from .messaging cimport Message as cppMessage
+from .messaging cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle


 class MessagingError(Exception):
-  pass
+  def __init__(self, endpoint=None):
+    suffix = "with {endpoint}" if endpoint else ""
+    message = f"Messaging failure {suffix}: {strerror(errno.errno)}"
+    super().__init__(message)


 class MultiplePublishersError(MessagingError):
  pass


+def toggle_fake_events(bool enabled):
+  cppSocketEventHandle.toggle_fake_events(enabled)
+
+
+def set_fake_prefix(string prefix):
+  cppSocketEventHandle.set_fake_prefix(prefix)
+
+
+def get_fake_prefix():
+  return cppSocketEventHandle.fake_prefix()
+
+
+def delete_fake_prefix():
+  cppSocketEventHandle.set_fake_prefix(b"")
+
+
+def wait_for_one_event(list events, int timeout=-1):
+  cdef vector[cppEvent] items
+  for event in events:
+    items.push_back(dereference(<cppEvent*><size_t>event.ptr))
+  return cppEvent.wait_for_one(items, timeout)
+
+
+cdef class Event:
+  cdef cppEvent event;
+
+  def __cinit__(self):
+    pass
+
+  cdef setEvent(self, cppEvent event):
+    self.event = event
+
+  def set(self):
+    self.event.set()
+
+  def clear(self):
+    return self.event.clear()
+
+  def wait(self, int timeout=-1):
+    self.event.wait(timeout)
+
+  def peek(self):
+    return self.event.peek()
+
+  @property
+  def fd(self):
+    return self.event.fd()
+
+  @property
+  def ptr(self):
+    return <size_t><void*>&self.event
+
+
+cdef class SocketEventHandle:
+  cdef cppSocketEventHandle * handle;
+
+  def __cinit__(self, string endpoint, string identifier, bool override):
+    self.handle = new cppSocketEventHandle(endpoint, identifier, override)
+
+  def __dealloc__(self):
+    del self.handle
+
+  @property
+  def enabled(self):
+    return self.handle.is_enabled()
+
+  @enabled.setter
+  def enabled(self, bool value):
+    self.handle.set_enabled(value)
+
+  @property
+  def recv_called_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_called())
+
+    return e
+
+  @property
+  def recv_ready_event(self):
+    e = Event()
+    e.setEvent(self.handle.recv_ready())
+
+    return e
+
+
 cdef class Context:
  cdef cppContext * context

@@ -68,6 +160,7 @@ cdef class Poller:

    return sockets

+
 cdef class SubSocket:
  cdef cppSubSocket * socket
  cdef bool is_owner
@@ -95,9 +188,9 @@ cdef class SubSocket:

    if r != 0:
      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
+        raise MultiplePublishersError(endpoint)
      else:
-        raise MessagingError
+        raise MessagingError(endpoint)

  def setTimeout(self, int timeout):
    self.socket.setTimeout(timeout)
@@ -136,9 +229,9 @@ cdef class PubSocket:

    if r != 0:
      if errno.errno == errno.EADDRINUSE:
-        raise MultiplePublishersError
+        raise MultiplePublishersError(endpoint)
      else:
-        raise MessagingError
+        raise MessagingError(endpoint)

  def send(self, bytes data):
    length = len(data)
@@ -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;

@@ -1,4 +1,5 @@
 #pragma once
+
 #include <cstdint>
 #include <cstring>
 #include <string>
@@ -8,8 +9,9 @@
 #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;
@@ -30,7 +30,7 @@ services = {
  "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),
@@ -46,7 +46,7 @@ services = {
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
  "longitudinalPlan": (True, 20., 5),
-  "procLog": (True, 0.5),
+  "procLog": (True, 0.5, 15),
  "gpsLocationExternal": (True, 10., 10),
  "gpsLocation": (True, 1., 1),
  "ubloxGnss": (True, 10.),
@@ -74,8 +74,12 @@ 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),
@@ -84,6 +88,12 @@ services = {
  "driverEncodeData": (False, 20.),
  "wideRoadEncodeData": (False, 20.),
  "qRoadEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeIdx": (False, 20.),
+  "livestreamRoadEncodeIdx": (False, 20.),
+  "livestreamDriverEncodeIdx": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20.),
+  "livestreamRoadEncodeData": (False, 20.),
+  "livestreamDriverEncodeData": (False, 20.),
 }
 service_list = {name: Service(new_port(idx), *vals) for  # type: ignore
                idx, (name, vals) in enumerate(services.items())}
@@ -1,4 +1,5 @@
-from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType  # pylint: disable=no-name-in-module, import-error
+from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionIpcServer, VisionStreamType, get_endpoint_name  # pylint: disable=no-name-in-module, import-error
 assert VisionIpcClient
 assert VisionIpcServer
 assert VisionStreamType
+assert get_endpoint_name
@@ -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 +20,15 @@ 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":
+  string get_endpoint_name(string, VisionStreamType)
+
  cdef cppclass VisionIpcServer:
    VisionIpcServer(string, void*, void*)
    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
@@ -34,9 +37,11 @@ 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 >= 0) && (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);
 };
@@ -14,6 +14,12 @@ from .visionipc cimport VisionIpcServer as cppVisionIpcServer
 from .visionipc cimport VisionIpcClient as cppVisionIpcClient
 from .visionipc cimport VisionBuf as cppVisionBuf
 from .visionipc cimport VisionIpcBufExtra
+from .visionipc cimport get_endpoint_name as cpp_get_endpoint_name
+
+
+def get_endpoint_name(string name, VisionStreamType stream):
+  return cpp_get_endpoint_name(name, stream).decode('utf-8')
+

 cpdef enum VisionStreamType:
  VISION_STREAM_ROAD
@@ -97,3 +103,7 @@ 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);
@@ -140,6 +154,7 @@ void VisionIpcServer::listener(){

  std::cout << "Stopping listener for: " << name << std::endl;
  close(sock);
+  unlink(path.c_str());
 }


@@ -174,7 +189,7 @@ 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 +199,7 @@ 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;
 }
@@ -1,5 +1,20 @@
 #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>

@@ -63,3 +78,5 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
  close(fd);
  return rq.fd;
 }
+
+#endif
@@ -1,4 +1,5 @@
-from typing import Optional
+import glob
+from typing import Optional, List

 def gpio_init(pin: int, output: bool) -> None:
  try:
@@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]:
    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>
@@ -153,9 +153,9 @@ class SwagLogger(logging.Logger):
  def bind_global(self, **kwargs):
    self.global_ctx.update(kwargs)

-  def event(self, event_name, *args, **kwargs):
+  def event(self, event, *args, **kwargs):
    evt = NiceOrderedDict()
-    evt['event'] = event_name
+    evt['event'] = event
    if args:
      evt['args'] = args
    evt.update(kwargs)
@@ -92,26 +92,28 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"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},
    {"CarParamsPersistent", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"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},
    {"ExperimentalMode", PERSISTENT},
    {"ExperimentalModeConfirmed", PERSISTENT},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
+    {"LongitudinalPersonality", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
    {"DongleId", PERSISTENT},
    {"DoReboot", CLEAR_ON_MANAGER_START},
    {"DoShutdown", CLEAR_ON_MANAGER_START},
    {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ForcePowerDown", PERSISTENT},
    {"GitBranch", PERSISTENT},
    {"GitCommit", PERSISTENT},
    {"GitDiff", PERSISTENT},
@@ -134,9 +136,10 @@ 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},
@@ -148,27 +151,31 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"LiveParameters", PERSISTENT},
    {"LiveTorqueCarParams", PERSISTENT},
    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"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
-    {"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},
    {"TermsVersion", PERSISTENT},
    {"Timezone", PERSISTENT},
    {"TrainingVersion", PERSISTENT},
    {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
    {"UpdaterState", CLEAR_ON_MANAGER_START},
    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
@@ -180,23 +187,22 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
    {"Version", PERSISTENT},
    {"VisionRadarToggle", PERSISTENT},
-    {"WideCameraOnly", PERSISTENT},
    {"ApiCache_Device", PERSISTENT},
    {"ApiCache_DriveStats", PERSISTENT},
    {"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
@@ -300,14 +306,19 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
  FileLock file_lock(params_path + "/.lock");

-  if (key_type == ALL) {
-    util::remove_files_in_dir(getParamPath());
-  } else {
-    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());
@@ -7,8 +7,8 @@
 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
 };
@@ -9,8 +9,8 @@ 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":
@@ -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;
+};
@@ -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>
@@ -0,0 +1,3 @@
+import datetime
+
+MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
@@ -10,6 +10,7 @@
 #include <dirent.h>
 #include <fstream>
 #include <iomanip>
+#include <random>
 #include <sstream>

 #ifdef __linux__
@@ -98,22 +99,6 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
  return ret;
 }

-void remove_files_in_dir(const std::string &path) {
-  DIR *d = opendir(path.c_str());
-  if (!d) return;
-
-  std::string fn;
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type != DT_DIR) {
-      fn = path + "/" + de->d_name;
-      unlink(fn.c_str());
-    }
-  }
-
-  closedir(d);
-}
-
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
  int fd = HANDLE_EINTR(open(path, flags, mode));
  if (fd == -1) {
@@ -204,7 +189,7 @@ bool create_directories(const std::string& dir, mode_t mode) {
  return createDirectory(dir, mode);
 }

-std::string getenv(const char* key, const char* default_val) {
+std::string getenv(const char* key, std::string default_val) {
  const char* val = ::getenv(key);
  return val ? val : default_val;
 }
@@ -228,6 +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 "";
@@ -263,7 +260,7 @@ struct tm get_time() {
 bool time_valid(struct tm sys_time) {
  int year = 1900 + sys_time.tm_year;
  int month = 1 + sys_time.tm_mon;
-  return (year > 2021) || (year == 2021 && month >= 6);
+  return (year > 2023) || (year == 2023 && month >= 6);
 }

 }  // namespace util
@@ -70,17 +70,17 @@ std::string string_format(const std::string& format, Args... args) {
  return std::string(buf.get(), buf.get() + size - 1);
 }

-std::string getenv(const char* key, const char* default_val = "");
+std::string getenv(const char* key, std::string default_val = "");
 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 *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
-void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);

 FILE* safe_fopen(const char* filename, const char* mode);
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.0"
+#define COMMA_VERSION "0.9.3"
@@ -2,238 +2,277 @@

 # Supported Cars

-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.
+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.

-# 215 Supported Cars
+# 252 Supported Cars

-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Honda Bosch A|
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|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)](##)|GM|
-|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)](##)|GM|
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|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)](##)|FCA|
-|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)](##)|FCA|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|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)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|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)](##)|Hyundai F|
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|Hyundai C|
-|Genesis|GV70 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|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)](##)|GM|
-|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)](##)|Honda Bosch 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)](##)|Honda Bosch A|
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Honda Bosch A|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|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)](##)|Honda Bosch A|
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![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)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Honda Bosch A|
-|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)](##)|Honda Bosch A|
-|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)](##)|Honda Bosch A|
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Honda Bosch A|
-|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)](##)|Honda Bosch A|
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|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)](##)|Hyundai B|
-|Hyundai|Elantra 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)](##)|Hyundai K|
-|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)](##)|Hyundai E|
-|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)](##)|Hyundai K|
-|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)](##)|Hyundai J|
-|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23|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)](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (without HDA II) 2022-23|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)](##)|Hyundai K|
-|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)](##)|Hyundai C|
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|Hyundai C|
-|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)](##)|Hyundai H|
-|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)](##)|Hyundai C|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|Hyundai B|
-|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)](##)|Hyundai G|
-|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)](##)|Hyundai O|
-|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)](##)|Hyundai I|
-|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)](##)|Hyundai H|
-|Hyundai|Santa Cruz 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|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)](##)|Hyundai D|
-|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)](##)|Hyundai L|
-|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)](##)|Hyundai L|
-|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)](##)|Hyundai L|
-|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)](##)|Hyundai E|
-|Hyundai|Sonata 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)](##)|Hyundai 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)](##)|Hyundai A|
-|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)](##)|Hyundai L|
-|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)](##)|Hyundai L|
-|Hyundai|Tucson 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)](##)|Hyundai N|
-|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)](##)|Hyundai E|
-|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)](##)|FCA|
-|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)](##)|FCA|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|EV6 (with HDA II) 2022|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)](##)|Hyundai P|
-|Kia|EV6 (without HDA II) 2022|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)](##)|Hyundai L|
-|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)](##)|Hyundai G|
-|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)](##)|Hyundai A|
-|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)](##)|Hyundai H|
-|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)](##)|Hyundai F|
-|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)](##)|Hyundai C|
-|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)](##)|Hyundai H|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|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)](##)|Hyundai C|
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|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)](##)|Hyundai G|
-|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)](##)|Hyundai A|
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|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)](##)|Hyundai K|
-|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)](##)|Hyundai H|
-|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)](##)|Toyota|
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES 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-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![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)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![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)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![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)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|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)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|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)](##)|Toyota|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></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 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></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 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></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 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></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 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></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 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></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 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></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 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></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 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></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 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></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 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></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 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></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 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></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 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></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 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></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 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|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 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 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 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022|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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|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 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></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-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></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 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></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 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></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 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra 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 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|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 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></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 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></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 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></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 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></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 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></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 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></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 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></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 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|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 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></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 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></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 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata 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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></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 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></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 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></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 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|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 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></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 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></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 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></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 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></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 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></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 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></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 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></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 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></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 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></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 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></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 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Buy Here</a></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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></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 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></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 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></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 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></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 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022|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 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|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 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></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 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|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 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></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 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|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 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||

-<a id="footnotes"></a>
-<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. Using openpilot longitudinal may disable Automatic Emergency Braking (AEB). <br />
-<sup>2</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>3</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 />
+### Footnotes
+<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>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>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>7</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>8</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>9</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>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>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>10</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>11</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/).
@@ -252,6 +291,7 @@ If your car has the following packages or features, then it's a good candidate f
 | 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. |
@@ -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
@@ -15,6 +14,12 @@ 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):
  line = f.readline()[:-1]
@@ -24,51 +29,6 @@ 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
@@ -87,24 +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
@@ -125,56 +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
@@ -196,14 +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:
@@ -227,10 +154,11 @@ class GLONASSEphemeris(Ephemeris):

 class PolyEphemeris(Ephemeris):
  def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
-               file_epoch: GPSTime=None, file_name: str=None, 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)
+               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']
@@ -247,27 +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
@@ -275,37 +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)
@@ -314,8 +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)
@@ -403,7 +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 = {}
@@ -464,24 +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
@@ -507,27 +442,39 @@ 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

@@ -538,9 +485,9 @@ def parse_qcom_ephem(qcom_poly, current_week):
  t0 = data.t0
  # fix glonass time
  prn = get_prn_from_nmea_id(svId)
-  if prn == 'GLONASS':
+  if prn[0] == 'R':
    # TODO should handle leap seconds better
-    epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18)
+    epoch = GPSTime(current_week, (t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + 18)
  else:
    epoch = GPSTime(current_week, t0)
  poly_data = {}
@@ -553,4 +500,4 @@ def parse_qcom_ephem(qcom_poly, current_week):
  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)
+  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()

@@ -26,7 +26,7 @@ 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):
@@ -97,14 +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():
@@ -123,11 +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="6.2"
+  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 {
@@ -3,10 +3,8 @@

 from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t
 from libcpp cimport bool
-from libcpp.map cimport map
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.unordered_set cimport unordered_set


 ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &)
@@ -54,13 +52,13 @@ cdef extern from "common_dbc.h":
    uint32_t address
    string name

-
  cdef struct MessageParseOptions:
    uint32_t address
    int check_frequency

  cdef struct SignalValue:
    uint32_t address
+    uint64_t ts_nanos
    string name
    double value
    vector[double] all_values
@@ -71,15 +69,14 @@ cdef extern from "common_dbc.h":


 cdef extern from "common.h":
-  cdef const DBC* dbc_lookup(const string);
+  cdef const DBC* dbc_lookup(const string)

  cdef cppclass CANParser:
    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
@@ -83,6 +84,6 @@ typedef struct ChecksumState {
 } 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);
+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();
@@ -7,10 +7,12 @@
 #include <sstream>
 #include <vector>
 #include <mutex>
+#include <iterator>
 #include <cstring>
+#include <clocale>

-#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+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
@@ -97,13 +99,15 @@ void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name,
  }
 }

-DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum) {
+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;
+  std::setlocale(LC_NUMERIC, "C");

  // used to find big endian LSB from MSB and size
  std::vector<int> be_bits;
@@ -133,8 +137,11 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
      // 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;
@@ -161,6 +168,10 @@ DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, Ch
        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);
@@ -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
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	c39abc00af	openpilot v0.9.3 release date: 2023-06-16T05:25:00 master commit: 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2	2023-06-30 15:42:10 -07:00
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