diff --git a/CHANGELOGS-DEV.md b/CHANGELOGS-DEV.md
index 61c6ce921..8c3452afa 100644
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,14 @@
+dragonpilot 0.7.7.1
+========================
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+
 dragonpilot 0.7.7.0
 ========================
 * 基於最新 openpilot 0.7.7 devel.
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 7f52be36e..1671ae7f7 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,3 +1,29 @@
+2020-07-28 (0.7.7.0)
+========================
+* 修正 steer ratio learner 關閉。(感謝 @Mojo 回報, @ShaneSmiskol 提供代碼)
+* Fixed steer ratio learner toggle. (Thanks to @Mojo, @ShaneSmiskol)
+* 加入 "dp_lqr" 設定來強制使用 RAV4 的 lqr 調校。(感謝 @eisenheim)
+* Added "dp_lqr" setting to force enable lqr tuning from RAV4. (Thanks to eisenheim) 
+
+2020-07-28 (0.7.7.0)
+========================
+* 修正無法上傳記錄的問題。(感謝 @Mojo)
+* Fixed unable to upload log issue. (Thanks to @Mojo)
+* 修正無法關閉警示音的問題。(感謝 @Mojo)
+* Fixed unable to disable audio alert (-100%) issue. ($Thanks to @Mojo)
+
+2020-07-27 (0.7.7.0)
+========================
+* 加入回調校介面。(感謝 @Kent)
+* Re-added Dev UI. (Thanks to @Kent)
+
+2020-07-27 (0.7.7.0)
+========================
+* 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
+* Added C2 quiet fan mode. (Thanks to @dingliangxue)
+* 加入「輔助換道最低啟動速度」、「自動換道最低啟動速度」設定。
+* Added "Assisted Lane Change Min Engage Speed" and "Auto Lane Change Min Engage Speed" settings.
+
 2020-07-23 (0.7.7.0)
 ========================
 * 修正 appd。(感謝 @cgw1968)
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index ce9038a85..2679ffe0e 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/common/dp_common.py b/common/dp_common.py
index bc87031a5..54e2e4d52 100644
--- a/common/dp_common.py
+++ b/common/dp_common.py
@@ -26,3 +26,17 @@ def common_interface_atl(ret, atl):
     if ret.seatbeltUnlatched or ret.doorOpen:
       enable_acc = False
   return enable_acc
+
+def common_interface_get_params_lqr(ret):
+  if params.get('dp_lqr') == b'1':
+    ret.lateralTuning.init('lqr')
+    ret.lateralTuning.lqr.scale = 1500.0
+    ret.lateralTuning.lqr.ki = 0.05
+
+    ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
+    ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
+    ret.lateralTuning.lqr.c = [1., 0.]
+    ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
+    ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
+    ret.lateralTuning.lqr.dcGain = 0.002237852961363602
+  return ret
\ No newline at end of file
diff --git a/common/dp_conf.py b/common/dp_conf.py
index e3b3dc0fc..8916d8b2a 100644
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -89,6 +89,7 @@ confs = [
   #misc
   {'name': 'dp_ip_addr', 'default': '', 'type': 'Text', 'conf_type': ['struct']},
   {'name': 'dp_full_speed_fan', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_uno_fan_mode', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_last_modified', 'default': str(floor(time.time())), 'type': 'Text', 'conf_type': ['param']},
   {'name': 'dp_camera_offset', 'default': 6, 'type': 'Int8', 'min': -255, 'max': 255, 'conf_type': ['param', 'struct']},
 
@@ -101,6 +102,7 @@ confs = [
   {'name': 'dp_is_updating', 'default': False, 'type': 'Bool', 'set_param_only': True, 'conf_type': ['param', 'struct']},
 
   {'name': 'dp_sr_learner', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_lqr', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
 
   # including thermal data
   {'name': 'dp_thermal_started', 'default': False, 'type': 'Bool', 'conf_type': ['struct']},
diff --git a/panda/board/board.h b/panda/board/board.h
index ba5920bc5..84fca5469 100644
--- a/panda/board/board.h
+++ b/panda/board/board.h
@@ -18,18 +18,12 @@
   #include "boards/pedal.h"
 #endif
 
-//#define DP_USE_DOS 1
-
 void detect_board_type(void) {
   #ifdef PANDA
     // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART)
     set_gpio_output(GPIOC, 14, 1);
     set_gpio_output(GPIOC, 5, 1);
-    #ifdef DP_USE_DOS
-    if(!detect_with_pull(GPIOB, 1, PULL_UP)){
-    #else
-    if (false) {
-    #endif
+    if(!detect_with_pull(GPIOB, 1, PULL_UP) && detect_with_pull(GPIOB, 15, PULL_UP)){
       hw_type = HW_TYPE_DOS;
       current_board = &board_dos;
     } else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 67d72e0df..42c450a58 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -3,7 +3,7 @@ from cereal import car
 from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
@@ -40,6 +40,9 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 12.7
       ret.steerActuatorDelay = 0.2  # in seconds
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     ret.centerToFront = ret.wheelbase * 0.44
 
     ret.minSteerSpeed = 3.8  # m/s
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 138023df9..19e0b007a 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -5,7 +5,7 @@ from selfdrive.config import Conversions as CV
 from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 class CarInterface(CarInterfaceBase):
 
@@ -32,6 +32,9 @@ class CarInterface(CarInterfaceBase):
     ret.centerToFront = ret.wheelbase * 0.44
     tire_stiffness_factor = 0.5328
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 51ff17642..208266a49 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -5,7 +5,7 @@ from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
                                     AccState, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -93,6 +93,9 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.49
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ab8e4dfcb..5eea9d821 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -10,7 +10,7 @@ from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
@@ -394,6 +394,9 @@ class CarInterface(CarInterfaceBase):
     else:
       raise ValueError("unsupported car %s" % candidate)
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 161f52967..982257c1c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -4,7 +4,7 @@ from selfdrive.config import Conversions as CV
 from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 class CarInterface(CarInterfaceBase):
 
@@ -145,6 +145,9 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     # these cars require a special panda safety mode due to missing counters and checksums in the messages
     if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]:
       ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index dce15fcd5..b1488d9d9 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -4,7 +4,7 @@ from selfdrive.config import Conversions as CV
 from selfdrive.car.mazda.values import CAR, LKAS_LIMITS, FINGERPRINTS, ECU_FINGERPRINT, Ecu
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -47,6 +47,9 @@ class CarInterface(CarInterfaceBase):
       # No steer below disable speed
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     ret.centerToFront = ret.wheelbase * 0.41
 
     # TODO: get actual value, for now starting with reasonable value for
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 39c42e786..b8af252d3 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -5,7 +5,6 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
 
 # mocked car interface to work with chffrplus
 TS = 0.01  # 100Hz
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 1f68f8e3f..f5d2389dc 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -3,7 +3,7 @@ from cereal import car
 from selfdrive.car.nissan.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
@@ -46,6 +46,9 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.44
       ret.steerRatio = 17
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarOffCan = True
 
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 54bd7270f..84380a98d 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -3,7 +3,7 @@ from cereal import car
 from selfdrive.car.subaru.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 class CarInterface(CarInterfaceBase):
 
@@ -59,6 +59,9 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index a4d5882a7..64cd38a86 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -5,8 +5,7 @@ from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FIN
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.swaglog import cloudlog
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
-from common.params import Params
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 EventName = car.CarEvent.EventName
 
@@ -288,6 +287,9 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index ea38c5b31..979f5dbbe 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -3,7 +3,7 @@ from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, NWL, TRANS, GEAR
 from common.params import put_nonblocking
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
-from common.dp_common import common_interface_atl
+from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 
 EventName = car.CarEvent.EventName
 
@@ -88,6 +88,9 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 15.6
       tire_stiffness_factor = 1.0
 
+    # dp
+    ret = common_interface_get_params_lqr(ret)
+
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 7530531c7..063423953 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -103,7 +103,9 @@ class Controls:
     self.LoC = LongControl(self.CP, self.CI.compute_gb)
     self.VM = VehicleModel(self.CP)
 
-    if self.CP.lateralTuning.which() == 'pid':
+    if params.get('dp_lqr') == b'1':
+      self.LaC = LatControlLQR(self.CP)
+    elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP)
     elif self.CP.lateralTuning.which() == 'indi':
       self.LaC = LatControlINDI(self.CP)
diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py
index dc3d1f4b2..390d639ff 100755
--- a/selfdrive/controls/lib/vehicle_model.py
+++ b/selfdrive/controls/lib/vehicle_model.py
@@ -16,6 +16,7 @@ import numpy as np
 from numpy.linalg import solve
 from typing import Tuple
 from cereal import car
+from common.params import Params
 
 
 class VehicleModel:
@@ -34,13 +35,17 @@ class VehicleModel:
 
     self.cF_orig = CP.tireStiffnessFront
     self.cR_orig = CP.tireStiffnessRear
+    # dp
+    self.sR_orig = CP.steerRatio
+    self.dp_sr_learner = Params().get('dp_sr_learner') == b'1'
+
     self.update_params(1.0, CP.steerRatio)
 
   def update_params(self, stiffness_factor: float, steer_ratio: float) -> None:
     """Update the vehicle model with a new stiffness factor and steer ratio"""
     self.cF = stiffness_factor * self.cF_orig
     self.cR = stiffness_factor * self.cR_orig
-    self.sR = steer_ratio
+    self.sR = steer_ratio if self.dp_sr_learner else self.sR_orig
 
   def steady_state_sol(self, sa: float, u: float) -> np.ndarray:
     """Returns the steady state solution.
diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index 863b571a5..d1fa88dee 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -33,12 +33,12 @@ else:
   error_tags = {'dirty': dirty, 'username': uniqueID, 'dongle_id': dongle_id, 'branch': branch, 'remote': origin}
 
 
-  client = Client('https://fa39b8804ae94ea6bbb22279d68b3dc7:5ac1b337f7be42308cabbb534b342669@sentry.io/1428745',
-                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
-  
-  # client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
+  # client = Client('https://fa39b8804ae94ea6bbb22279d68b3dc7:5ac1b337f7be42308cabbb534b342669@sentry.io/1428745',
   #                 install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
 
+  client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
+                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
+
   def capture_exception(*args, **kwargs):
     exc_info = sys.exc_info()
     if not exc_info[0] is capnp.lib.capnp.KjException:
diff --git a/selfdrive/dragonpilot/systemd.py b/selfdrive/dragonpilot/systemd.py
index d7beb9f00..ecc2c9c4d 100644
--- a/selfdrive/dragonpilot/systemd.py
+++ b/selfdrive/dragonpilot/systemd.py
@@ -157,6 +157,9 @@ def confd_thread():
     we can have some logic here
     ===================================================
     '''
+    if msg.dragonConf.dpAssistedLcMinMph > msg.dragonConf.dpAutoLcMinMph:
+      put_nonblocking('dp_auto_lc_min_mph', str(msg.dragonConf.dpAssistedLcMinMph))
+      msg.dragonConf.dpAutoLcMinMph = msg.dragonConf.dpAssistedLcMinMph
     if msg.dragonConf.dpAtl:
       msg.dragonConf.dpAllowGas = True
       msg.dragonConf.dpDynamicFollow = 0
diff --git a/selfdrive/locationd/params_learner.cc b/selfdrive/locationd/params_learner.cc
index 9dc51e49b..a9d261c20 100644
--- a/selfdrive/locationd/params_learner.cc
+++ b/selfdrive/locationd/params_learner.cc
@@ -44,23 +44,20 @@ ParamsLearner::ParamsLearner(cereal::CarParams::Reader car_params,
   alpha4 = 1.0 * learning_rate;
 }
 
-bool ParamsLearner::update(double psi, double u, double sa, bool dp_sr_leaner) {
+bool ParamsLearner::update(double psi, double u, double sa) {
   if (u > 10.0 && fabs(sa) < (DEGREES_TO_RADIANS * 90.)) {
     double ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
     double new_ao = ao - alpha1 * ao_diff;
 
     double slow_ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
     double new_slow_ao = slow_ao - alpha2 * slow_ao_diff;
-
+    double new_sR = sR - alpha4 * (-2.0*cF0*cR0*l*u*x*(slow_ao - sa)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 3)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2)));
     double new_x = x - alpha3 * (-2.0*cF0*cR0*l*m*pow(u, 3)*(slow_ao - sa)*(aF*cF0 - aR*cR0)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 3)));
 
     ao = new_ao;
     slow_ao = new_slow_ao;
     x = new_x;
-    if (dp_sr_leaner) {
-      double new_sR = sR - alpha4 * (-2.0*cF0*cR0*l*u*x*(slow_ao - sa)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 3)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2)));
-      sR = new_sR;
-    }
+    sR = new_sR;
   }
 
 #ifdef DEBUG
@@ -95,7 +92,7 @@ extern "C" {
 
   bool params_learner_update(void * params_learner, double psi, double u, double sa) {
     ParamsLearner * p = (ParamsLearner*) params_learner;
-    return p->update(psi, u, sa, true);
+    return p->update(psi, u, sa);
   }
 
   double params_learner_get_ao(void * params_learner){
diff --git a/selfdrive/locationd/params_learner.h b/selfdrive/locationd/params_learner.h
index 399da31fc..4d97551b3 100644
--- a/selfdrive/locationd/params_learner.h
+++ b/selfdrive/locationd/params_learner.h
@@ -31,5 +31,5 @@ public:
                 double steer_ratio,
                 double learning_rate);
 
-  bool update(double psi, double u, double sa, bool dp_sr_leaner);
+  bool update(double psi, double u, double sa);
 };
diff --git a/selfdrive/locationd/paramsd.cc b/selfdrive/locationd/paramsd.cc
index d7fbee553..aee957bc8 100644
--- a/selfdrive/locationd/paramsd.cc
+++ b/selfdrive/locationd/paramsd.cc
@@ -78,13 +78,6 @@ int main(int argc, char *argv[]) {
 
   ParamsLearner learner(car_params, ao, x, sR, 1.0);
 
-  // dp - sr learner
-  bool enable_sr_learner = true;
-  std::vector<char> result = read_db_bytes("dp_sr_learner");
-  if (result.size() > 0 && result[0] == '0') {
-    enable_sr_learner = false;
-  }
-
   // Main loop
   int save_counter = 0;
   while (true){
@@ -95,7 +88,7 @@ int main(int argc, char *argv[]) {
       save_counter++;
 
       double yaw_rate = -localizer.x[0];
-      bool valid = learner.update(yaw_rate, localizer.car_speed, localizer.steering_angle, enable_sr_learner);
+      bool valid = learner.update(yaw_rate, localizer.car_speed, localizer.steering_angle);
 
       double angle_offset_degrees = RADIANS_TO_DEGREES * learner.ao;
       double angle_offset_average_degrees = RADIANS_TO_DEGREES * learner.slow_ao;
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index eef1babca..40487c39e 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -199,7 +199,7 @@ class Uploader():
 
     return self.last_resp
 
-  def upload(self, key, fn, atl = False):
+  def upload(self, key, fn):
     try:
       sz = os.path.getsize(fn)
     except OSError:
@@ -210,9 +210,7 @@ class Uploader():
 
     cloudlog.info("checking %r with size %r", key, sz)
 
-    if atl:
-      setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
-    elif sz == 0:
+    if sz == 0:
       try:
         # tag files of 0 size as uploaded
         setxattr(fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE)
@@ -236,7 +234,7 @@ class Uploader():
 
     return success
 
-def uploader_fn(exit_event, sm=None):
+def uploader_fn(exit_event):
   cloudlog.info("uploader_fn")
 
   params = Params()
@@ -249,9 +247,7 @@ def uploader_fn(exit_event, sm=None):
   uploader = Uploader(dongle_id, ROOT)
 
   # dp
-  if sm is None:
-    sm = messaging.SubMaster(['dragonConf'])
-  atl = False
+  sm = messaging.SubMaster(['dragonConf'])
 
   backoff = 0.1
   while True:
@@ -263,7 +259,6 @@ def uploader_fn(exit_event, sm=None):
     if sm.updated['dragonConf']:
       on_wifi = True if sm['dragonConf'].dpUploadOnMobile else on_wifi
       on_hotspot = False if sm['dragonConf'].dpUploadOnHotspot else on_hotspot
-      atl = sm['dragonConf'].dpAtl
 
     should_upload = on_wifi and not on_hotspot
 
@@ -280,7 +275,7 @@ def uploader_fn(exit_event, sm=None):
 
     cloudlog.event("uploader_netcheck", is_on_hotspot=on_hotspot, is_on_wifi=on_wifi)
     cloudlog.info("to upload %r", d)
-    success = uploader.upload(key, fn, atl)
+    success = uploader.upload(key, fn)
     if success:
       backoff = 0.1
     else:
@@ -289,8 +284,8 @@ def uploader_fn(exit_event, sm=None):
       backoff = min(backoff*2, 120)
     cloudlog.info("upload done, success=%r", success)
 
-def main(sm=None):
-  uploader_fn(threading.Event(), sm)
+def main():
+  uploader_fn(threading.Event())
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 97417e04c..25c624bee 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -146,10 +146,17 @@ def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed, ignition):
 
 
 def handle_fan_uno(max_cpu_temp, bat_temp, fan_speed, ignition):
-  new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
+  dp_uno_fan_mode = params.get('dp_uno_fan_mode') == b'1'
+  if dp_uno_fan_mode:
+    new_speed = int(interp(max_cpu_temp, [65.0, 80.0, 90.0], [0, 20, 60]))
+  else:
+    new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
 
   if not ignition:
-    new_speed = min(30, new_speed)
+    if dp_uno_fan_mode:
+      new_speed = min(10, new_speed)
+    else:
+      new_speed = min(30, new_speed)
 
   return new_speed
 
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index c6ad81fef..aa21af713 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -758,7 +758,7 @@ static void ui_draw_infobar(UIState *s) {
   char battery[5];
   snprintf(battery, sizeof(battery), "%02d%%", scene->thermal.getBatteryPercent());
 
-  if (scene->dpUiDev) {
+  if (false) {
     char rel_steer[9];
     snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", scene->controls_state.getAngleSteers() < 0? "-" : "+", fabs(scene->angleSteers));
 
@@ -837,6 +837,215 @@ static void ui_draw_blindspots(UIState *s) {
     nvgFill(s->vg);
   }
 }
+
+//BB START: functions added for the display of various items
+static int bb_ui_draw_measure(UIState *s,  const char* bb_value, const char* bb_uom, const char* bb_label,
+    int bb_x, int bb_y, int bb_uom_dx,
+    NVGcolor bb_valueColor, NVGcolor bb_labelColor, NVGcolor bb_uomColor,
+    int bb_valueFontSize, int bb_labelFontSize, int bb_uomFontSize ) {
+
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+  int dx = 0;
+  if (strlen(bb_uom) > 0) {
+    dx = (int)(bb_uomFontSize*2.5/2);
+  }
+  //print value
+  nvgFontFaceId(s->vg, s->font_sans_bold);
+  nvgFontSize(s->vg, bb_valueFontSize*2.5);
+  nvgFillColor(s->vg, bb_valueColor);
+  nvgText(s->vg, bb_x-dx/2, bb_y+ (int)(bb_valueFontSize*2.5)+5, bb_value, NULL);
+  //print label
+  nvgFontFaceId(s->vg, s->font_sans_regular);
+  nvgFontSize(s->vg, bb_labelFontSize*2.5);
+  nvgFillColor(s->vg, bb_labelColor);
+  nvgText(s->vg, bb_x, bb_y + (int)(bb_valueFontSize*2.5)+5 + (int)(bb_labelFontSize*2.5)+5, bb_label, NULL);
+  //print uom
+  if (strlen(bb_uom) > 0) {
+    nvgSave(s->vg);
+    int rx =bb_x + bb_uom_dx + bb_valueFontSize -3;
+    int ry = bb_y + (int)(bb_valueFontSize*2.5/2)+25;
+    nvgTranslate(s->vg,rx,ry);
+    nvgRotate(s->vg, -1.5708); //-90deg in radians
+    nvgFontFaceId(s->vg, s->font_sans_regular);
+    nvgFontSize(s->vg, (int)(bb_uomFontSize*2.5));
+    nvgFillColor(s->vg, bb_uomColor);
+    nvgText(s->vg, 0, 0, bb_uom, NULL);
+    nvgRestore(s->vg);
+  }
+  return (int)((bb_valueFontSize + bb_labelFontSize)*2.5) + 5;
+}
+
+static void bb_ui_draw_measures_left(UIState *s, int bb_x, int bb_y, int bb_w ) {
+  const UIScene *scene = &s->scene;
+  int bb_rx = bb_x + (int)(bb_w/2);
+  int bb_ry = bb_y;
+  int bb_h = 5;
+  NVGcolor lab_color = COLOR_WHITE_ALPHA(200);
+  NVGcolor uom_color = COLOR_WHITE_ALPHA(200);
+  int value_fontSize=30;
+  int label_fontSize=15;
+  int uom_fontSize = 15;
+  int bb_uom_dx =  (int)(bb_w /2 - uom_fontSize*2.5) ;
+  float d_rel = scene->lead_data[0].getDRel();
+  float v_rel = scene->lead_data[0].getVRel();
+
+  //add visual radar relative distance
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = COLOR_WHITE_ALPHA(200);
+    if (scene->lead_data[0].getStatus()) {
+      //show RED if less than 5 meters
+      //show orange if less than 15 meters
+      if((int)(d_rel) < 15) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if((int)(d_rel) < 5) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // lead car relative distance is always in meters
+      snprintf(val_str, sizeof(val_str), "%d", (int)d_rel);
+    } else {
+       snprintf(val_str, sizeof(val_str), "-");
+    }
+    snprintf(uom_str, sizeof(uom_str), "m   ");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str,
+       (s->scene.dpLocale == "zh-TW"? "真實車距" : s->scene.dpLocale == "zh-CN"? "真实车距" : "REL DIST"),
+        bb_rx, bb_ry, bb_uom_dx,
+        val_color, lab_color, uom_color,
+        value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //add visual radar relative speed
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = COLOR_WHITE_ALPHA(200);
+    if (scene->lead_data[0].getStatus()) {
+      //show Orange if negative speed (approaching)
+      //show Orange if negative speed faster than 5mph (approaching fast)
+      if((int)(v_rel) < 0) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if((int)(v_rel) < -5) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // lead car relative speed is always in meters
+      if (s->is_metric) {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(v_rel * 3.6 + 0.5));
+      } else {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(v_rel * 2.2374144 + 0.5));
+      }
+    } else {
+       snprintf(val_str, sizeof(val_str), "-");
+    }
+    if (s->is_metric) {
+      snprintf(uom_str, sizeof(uom_str), "km/h");;
+    } else {
+      snprintf(uom_str, sizeof(uom_str), "mph");
+    }
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str,
+        (s->scene.dpLocale == "zh-TW"? "相對速度" : s->scene.dpLocale == "zh-CN"? "相对速度" : "REAL SPEED"),
+        bb_rx, bb_ry, bb_uom_dx,
+        val_color, lab_color, uom_color,
+        value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //finally draw the frame
+  bb_h += 20;
+  nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
+    nvgStrokeColor(s->vg, COLOR_WHITE_ALPHA(80));
+    nvgStrokeWidth(s->vg, 6);
+    nvgStroke(s->vg);
+}
+
+static void bb_ui_draw_measures_right(UIState *s, int bb_x, int bb_y, int bb_w ) {
+  const UIScene *scene = &s->scene;
+  int bb_rx = bb_x + (int)(bb_w/2);
+  int bb_ry = bb_y;
+  int bb_h = 5;
+  NVGcolor lab_color = COLOR_WHITE_ALPHA(200);
+  NVGcolor uom_color = COLOR_WHITE_ALPHA(200);
+  int value_fontSize=30;
+  int label_fontSize=15;
+  int uom_fontSize = 15;
+  int bb_uom_dx =  (int)(bb_w /2 - uom_fontSize*2.5) ;
+
+  //add  steering angle
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = COLOR_WHITE_ALPHA(200);
+      //show Orange if more than 6 degrees
+      //show red if  more than 12 degrees
+      if(((int)(scene->angleSteers) < -6) || ((int)(scene->angleSteers) > 6)) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if(((int)(scene->angleSteers) < -12) || ((int)(scene->angleSteers) > 12)) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // steering is in degrees
+      snprintf(val_str, sizeof(val_str), "%.1f°",(scene->angleSteers));
+
+      snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str,
+      (s->scene.dpLocale == "zh-TW"? "實際轉角" : s->scene.dpLocale == "zh-CN"? "实际转角" : "REAL STEER"),
+      bb_rx, bb_ry, bb_uom_dx,
+      val_color, lab_color, uom_color,
+      value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //add  desired steering angle
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = COLOR_WHITE_ALPHA(200);
+    //show Orange if more than 6 degrees
+    //show red if  more than 12 degrees
+    if(((int)(scene->angleSteersDes) < -6) || ((int)(scene->angleSteersDes) > 6)) {
+      val_color = nvgRGBA(255, 188, 3, 200);
+    }
+    if(((int)(scene->angleSteersDes) < -12) || ((int)(scene->angleSteersDes) > 12)) {
+      val_color = nvgRGBA(255, 0, 0, 200);
+    }
+    // steering is in degrees
+    snprintf(val_str, sizeof(val_str), "%.1f°",(scene->angleSteersDes));
+
+    snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str,
+      (s->scene.dpLocale == "zh-TW"? "預測轉角" : s->scene.dpLocale == "zh-CN"? "预测转角" : "DESIR STEER"),
+      bb_rx, bb_ry, bb_uom_dx,
+      val_color, lab_color, uom_color,
+      value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //finally draw the frame
+  bb_h += 20;
+  nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
+    nvgStrokeColor(s->vg, COLOR_WHITE_ALPHA(80));
+    nvgStrokeWidth(s->vg, 6);
+    nvgStroke(s->vg);
+}
+
+static void ui_draw_bbui(UIState *s) {
+    const UIScene *scene = &s->scene;
+    const int bb_dml_w = 180;
+    const int bb_dml_x = (scene->ui_viz_rx + (bdr_s * 2));
+    const int bb_dml_y = (box_y + (bdr_s * 1.5)) + 220;
+
+    const int bb_dmr_w = 180;
+    const int bb_dmr_x = scene->ui_viz_rx + scene->ui_viz_rw - bb_dmr_w - (bdr_s * 2);
+    const int bb_dmr_y = (box_y + (bdr_s * 1.5)) + 220;
+
+    bb_ui_draw_measures_right(s, bb_dml_x, bb_dml_y, bb_dml_w);
+    bb_ui_draw_measures_left(s, bb_dmr_x, bb_dmr_y, bb_dmr_w);
+}
 ////////////////////////////////////////////////////// DP END //////////////////////////////////////////////////////
 
 static void ui_draw_vision_footer(UIState *s) {
@@ -851,7 +1060,10 @@ static void ui_draw_vision_footer(UIState *s) {
   if ((int)s->scene.dpAccelProfile > 0) {
     ui_draw_ap_button(s);
   }
-  if (s->scene.dpUiDev || s->scene.dpDashcam || s->scene.dpAppWaze) {
+  if (s->scene.dpUiDev) {
+    ui_draw_bbui(s);
+  }
+  if (s->scene.dpDashcam || s->scene.dpAppWaze) {
     ui_draw_infobar(s);
   }
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 44abdda4b..feb13460f 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -948,7 +948,7 @@ int main(int argc, char* argv[]) {
 
     float min = MIN_VOLUME + s->scene.controls_state.getVEgo() / 5;
     if (s->scene.dpUiVolumeBoost > 0 || s->scene.dpUiVolumeBoost < 0) {
-      min = fmax(MIN_VOLUME, min * (1 + s->scene.dpUiVolumeBoost * 0.01));
+      min = min * (1 + s->scene.dpUiVolumeBoost * 0.01);
     }
     s->sound.setVolume(fmin(MAX_VOLUME, min)); // up one notch every 5 m/s