diff --git a/cereal/car.capnp b/cereal/car.capnp
index 48618a278..745389232 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -90,6 +90,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     ldw @65;
     carUnrecognized @66;
     radarCommIssue @67;
+    driverMonitorLowAcc @68;
   }
 }
 
@@ -345,6 +346,7 @@ struct CarParams {
   tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
 
   longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
     indi @27 :LateralINDITuning;
@@ -371,6 +373,12 @@ struct CarParams {
   carFw @44 :List(CarFw);
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   communityFeature @46: Bool;  # true if a community maintained feature is detected
+  fingerprintSource @49: FingerprintSource;
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -465,4 +473,9 @@ struct CarParams {
     dsu @6;
     apgs @7;
   }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+  }
 }
diff --git a/cereal/log.capnp b/cereal/log.capnp
index bdd7ed1bb..e01c8977e 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -279,6 +279,7 @@ struct ThermalData {
   batteryCurrent @15 :Int32;
   batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
+  networkType @22 :NetworkType;
 
   fanSpeed @10 :UInt16;
   started @11 :Bool;
@@ -297,6 +298,15 @@ struct ThermalData {
     red @2;     # no engage, will disengage
     danger @3;  # immediate process shutdown
   }
+
+  enum NetworkType {
+    none @0;
+    wifi @1;
+    cell2G @2;
+    cell3G @3;
+    cell4G @4;
+    cell5G @5;
+  }
 }
 
 struct HealthData {
@@ -1422,6 +1432,7 @@ struct UbloxGnss {
     measurementReport @0 :MeasurementReport;
     ephemeris @1 :Ephemeris;
     ionoData @2 :IonoData;
+    hwStatus @3 :HwStatus;
   }
 
   struct MeasurementReport {
@@ -1545,8 +1556,29 @@ struct UbloxGnss {
     healthValid @5 :Bool;
     ionoCoeffsValid @6 :Bool;
   }
-}
 
+  struct HwStatus {
+    noisePerMS @0 :UInt16;
+    agcCnt @1 :UInt16;
+    aStatus @2 :AntennaSupervisorState;
+    aPower @3 :AntennaPowerStatus;
+    jamInd @4 :UInt8;
+
+    enum AntennaSupervisorState {
+      init @0;
+      dontknow @1;
+      ok @2;
+      short @3;
+      open @4;
+    }
+
+    enum AntennaPowerStatus {
+      off @0;
+      on @1;
+      dontknow @2;
+    }
+  }
+}
 
 struct Clocks {
   bootTimeNanos @0 :UInt64;
@@ -1754,7 +1786,7 @@ struct OrbKeyFrame {
   descriptors @3 :Data;
 }
 
-struct DriverMonitoring {
+struct DriverState {
   frameId @0 :UInt32;
   descriptorDEPRECATED @1 :List(Float32);
   stdDEPRECATED @2 :Float32;
@@ -1770,6 +1802,25 @@ struct DriverMonitoring {
   facePositionStd @12 :List(Float32);
 }
 
+struct DMonitoringState {
+  # TODO: deprecate old fields in controlsState
+  events @0 :List(Car.CarEvent);
+  faceDetected @1 :Bool;
+  isDistracted @2 :Bool;
+  awarenessStatus @3 :Float32;
+  isRHD @4 :Bool;
+  rhdChecked @5 :Bool;
+  posePitchOffset @6 :Float32;
+  posePitchValidCount @7 :UInt32;
+  poseYawOffset @8 :Float32;
+  poseYawValidCount @9 :UInt32;
+  stepChange @10 :Float32;
+  awarenessActive @11 :Float32;
+  awarenessPassive @12 :Float32;
+  isLowStd @13 :Bool;
+  hiStdCount @14 :UInt32;
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   lastKmsg @1 :Data;
@@ -1889,7 +1940,7 @@ struct Event {
     orbKeyFrame @56 :OrbKeyFrame;
     uiLayoutState @57 :UiLayoutState;
     orbFeaturesSummary @58 :OrbFeaturesSummary;
-    driverMonitoring @59 :DriverMonitoring;
+    driverState @59 :DriverState;
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
@@ -1900,5 +1951,6 @@ struct Event {
     carEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     frontFrame @70: FrameData;
+    dMonitoringState @71: DMonitoringState;
   }
 }
diff --git a/cereal/service_list.yaml b/cereal/service_list.yaml
index e551dac59..7dd1a62e9 100644
--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -65,16 +65,17 @@ orbKeyFrame: [8059, true, 0.]
 uiLayoutState: [8060, true, 0.]
 frontEncodeIdx: [8061, true, 5.]
 orbFeaturesSummary: [8062, true, 0.]
-driverMonitoring: [8063, true, 5., 1]
+driverState: [8063, true, 5., 1]
 liveParameters: [8064, true, 10.]
 liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20.]
+cameraOdometry: [8066, true, 20., 5]
 pathPlan: [8067, true, 20.]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]
 carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
+dMonitoringState: [8073, true, 5., 1]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]