diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 2ccc6b25f..dc42a314a 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -18,11 +18,11 @@ You can test your changes on your machine by running `run_docker_tests.sh`. This
 
 ### Automated Testing
 
-All PRs are automatically checked by travis. Check out `.travis.yml` for what travis runs. Any new tests sould be added to travis.
+All PRs are automatically checked by Github Actions. Check out `.github/workflows/` for what Github Actions runs. Any new tests sould be added to Github Actions.
 
 ### Code Style and Linting
 
-Code is automatically checked for style by travis as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
+Code is automatically checked for style by Github Actions as part of the automated tests. You can also run these tests yourself by running `pylint_openpilot.sh` and `flake8_openpilot.sh`.
 
 ## Car Ports (openpilot)
 
@@ -32,9 +32,19 @@ If you port openpilot to a substantially new car brand, see this more generic [B
 
 ## Pull Requests
 
-Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
+```
+git clone https://github.com/commaai/openpilot.git --recursive
+```
+Or alternatively, when on the master branch:
 ```
 git submodule init
 git submodule update
 ```
-in order to pull down the submodules, such as `panda` and `opendbc`.
+The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
+Modules that are in seperate repositories include:
+* apks
+* cereal
+* laika
+* opendbc
+* panda
diff --git a/opendbc/can/common.cc b/opendbc/can/common.cc
index de19514b6..5c7efe4ed 100644
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -85,6 +85,9 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
     case 0x117: // ACC_10 Automatic Cruise Control
       crc ^= (uint8_t[]){0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC,0xAC}[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];
+      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];
       break;
diff --git a/opendbc/vw_mqb_2010.dbc b/opendbc/vw_mqb_2010.dbc
index 21f974cce..6db2a4fcf 100644
--- a/opendbc/vw_mqb_2010.dbc
+++ b/opendbc/vw_mqb_2010.dbc
@@ -1108,8 +1108,8 @@ BO_ 1413 Systeminfo_01: 8 Gateway_MQB
  SG_ SI_BUS_15 : 30|1@1+ (1,0) [0|1] "" Vector__XXX
 
 BO_ 288 TSK_06: 8 Motor_Diesel_MQB
- SG_ TSK_06_CRC : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
- SG_ TSK_06_BZ : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
+ SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Radbremsmom : 12|12@1+ (8,0) [0|32760] "Unit_NewtoMeter" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_Status : 24|3@1+ (1,0) [0|7] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
  SG_ TSK_v_Begrenzung_aktiv : 27|1@1+ (1,0) [0|1] "" Gateway_MQB,Getriebe_DQ_Hybrid_MQB,Getriebe_DQ_MQB
diff --git a/selfdrive/camerad/cameras/camera_qcom.c b/selfdrive/camerad/cameras/camera_qcom.c
index a45f0c0b8..7e76bedb9 100644
--- a/selfdrive/camerad/cameras/camera_qcom.c
+++ b/selfdrive/camerad/cameras/camera_qcom.c
@@ -2117,7 +2117,8 @@ void cameras_run(DualCameraState *s) {
 
     int ret = poll(fds, ARRAYSIZE(fds), 1000);
     if (ret <= 0) {
-      LOGE("poll failed (%d)", ret);
+      if (errno == EINTR || errno == EAGAIN) continue;
+      LOGE("poll failed (%d - %d)", ret, errno);
       break;
     }
 
diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index 9594fb49d..156116817 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -604,8 +604,8 @@ void* visionserver_client_thread(void* arg) {
     }
     int ret = zmq_poll(polls, num_polls, -1);
     if (ret < 0) {
-      if (errno == EINTR) continue;
-      LOGE("poll failed (%d)", ret);
+      if (errno == EINTR || errno == EAGAIN) continue;
+      LOGE("poll failed (%d - %d)", ret, errno);
       break;
     }
     if (polls[0].revents) {
@@ -796,7 +796,8 @@ void* visionserver_thread(void* arg) {
 
     int ret = zmq_poll(polls, ARRAYSIZE(polls), -1);
     if (ret < 0) {
-      LOGE("poll failed (%d)", ret);
+      if (errno == EINTR || errno == EAGAIN) continue;
+      LOGE("poll failed (%d - %d)", ret, errno);
       break;
     }
     if (polls[0].revents) {
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index cb3883673..c66fb7ec5 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -6,11 +6,14 @@ from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
+
+# dp
 from common.realtime import sec_since_boot
 from common.params import Params
 params = Params()
 from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
+
 GearShifter = car.CarState.GearShifter
 
 # generic car and radar interfaces
@@ -128,10 +131,8 @@ class CarInterfaceBase():
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if cs_out.espDisabled:
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if not self.dragon_toyota_stock_dsu:
-      if not self.dragon_allow_gas:
-        if cs_out.gasPressed:
-          events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+    if cs_out.gasPressed and not self.dragon_toyota_stock_dsu and not self.dragon_allow_gas:
+      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # TODO: move this stuff to the capnp strut
     if not self.dragon_lat_ctrl:
@@ -150,7 +151,7 @@ class CarInterfaceBase():
       # DragonAllowGas
       if not self.dragon_allow_gas:
         if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
-                (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
+            (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
           events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
       else:
         if cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill):
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 9c900c090..d4b167db9 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -140,7 +140,7 @@ FINGERPRINTS = {
   CAR.LEXUS_RX_TSS2: [
   # 2020 Lexus RX 350
   {
-    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594:8, 1595: 8, 1600: 8, 1649: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 764: 8, 765: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594:8, 1595: 8, 1600: 8, 1649: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
   CAR.CHR: [{
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 705: 8, 740: 5, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 913: 8, 918: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1014: 8, 1017: 8, 1020: 8, 1021: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1083: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8
@@ -756,6 +756,7 @@ FW_VERSIONS = {
       b'8965B42170\x00\x00\x00\x00\x00\x00',
       b'8965B42171\x00\x00\x00\x00\x00\x00',
       b'8965B42181\x00\x00\x00\x00\x00\x00',
+      b'\x028965B0R01200\x00\x00\x00\x008965B0R02200\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301200\x00\x00\x00\x00',
diff --git a/selfdrive/controls/dmonitoringd.py b/selfdrive/controls/dmonitoringd.py
index 0a6a3a792..9ffdf29f2 100755
--- a/selfdrive/controls/dmonitoringd.py
+++ b/selfdrive/controls/dmonitoringd.py
@@ -61,8 +61,8 @@ def dmonitoringd_thread(sm=None, pm=None):
           dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
           try:
             dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
-          except TypeError:
-            dp_awareness_time = 0.
+          except (TypeError, ValueError):
+            dp_awareness_time = 70.
           driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
         else:
           dp_enable_driver_monitoring = False
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 029c30153..66622cc47 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -78,7 +78,10 @@ class LanePlanner():
   def update_d_poly(self, v_ego):
     ts = sec_since_boot()
     if ts - self.ts_last_check >= 5.:
-      self.camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01
+      try:
+        self.camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01
+      except (TypeError, ValueError):
+        self.camera_offset = CAMERA_OFFSET
       self.ts_last_check = ts
     # only offset left and right lane lines; offsetting p_poly does not make sense
     self.l_poly[3] += self.camera_offset
diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 35cfde668..c5e02ab3e 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -34,6 +34,7 @@ class LongitudinalMpc():
     self.prev_lead_status = False
     self.prev_lead_x = 0.0
     self.new_lead = False
+
     self.last_cloudlog_t = 0.0
 
     # df from Shane Smiskol
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 80675a2d6..01eb8d258 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -85,7 +85,7 @@ class LongControl():
 
     v_ego_pid = max(v_ego, MIN_CAN_SPEED)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3
 
-    if self.long_control_state == LongCtrlState.off or gas_pressed:
+    if self.long_control_state == LongCtrlState.off or gas_pressed or brake_pressed:
       self.v_pid = v_ego_pid
       self.pid.reset()
       output_gb = 0.
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 03bb2b8a0..648ab9c06 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -25,20 +25,24 @@ DESIRES = {
   LaneChangeDirection.none: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
   },
   LaneChangeDirection.left: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
   },
   LaneChangeDirection.right: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
   },
 }
 
+
 def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
   states[0].x = v_ego * delay
   states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
@@ -58,6 +62,7 @@ class PathPlanner():
     self.lane_change_state = LaneChangeState.off
     self.lane_change_direction = LaneChangeDirection.none
     self.lane_change_timer = 0.0
+    self.lane_change_ll_prob = 1.0
     self.prev_one_blinker = False
 
     # dragonpilot
@@ -97,19 +102,30 @@ class PathPlanner():
         if self.lane_change_enabled:
           self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
           # adjustable assisted lc min speed
-          self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+          try:
+            self.dragon_assisted_lc_min_mph = float(self.params.get("DragonAssistedLCMinMPH", encoding='utf8'))
+          except (TypeError, ValueError):
+            self.dragon_assisted_lc_min_mph = 37
+          self.dragon_assisted_lc_min_mph *= CV.MPH_TO_MS
           if self.dragon_assisted_lc_min_mph < 0:
             self.dragon_assisted_lc_min_mph = 0
           if self.dragon_auto_lc_enabled:
             # adjustable auto lc min speed
-            self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+            try:
+              self.dragon_auto_lc_min_mph = float(self.params.get("DragonAutoLCMinMPH", encoding='utf8'))
+            except (TypeError, ValueError):
+              self.dragon_auto_lc_min_mph = 60
+            self.dragon_auto_lc_min_mph *= CV.MPH_TO_MS
             if self.dragon_auto_lc_min_mph < 0:
               self.dragon_auto_lc_min_mph = 0
             # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
             if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
               self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
             # adjustable auto lc delay
-            self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
+            try:
+              self.dragon_auto_lc_delay = float(self.params.get("DragonAutoLCDelay", encoding='utf8'))
+            except (TypeError, ValueError):
+              self.dragon_auto_lc_delay = 2.
             if self.dragon_auto_lc_delay < 0:
               self.dragon_auto_lc_delay = 0
         else:
@@ -174,19 +190,30 @@ class PathPlanner():
       # off
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
+        self.lane_change_ll_prob = 1.0
 
       # pre
       elif self.lane_change_state == LaneChangeState.preLaneChange:
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
         elif torque_applied:
+          self.lane_change_state = LaneChangeState.laneChangeStarting
+
+      # starting
+      elif self.lane_change_state == LaneChangeState.laneChangeStarting:
+        # fade out lanelines over 1s
+        self.lane_change_ll_prob = max(self.lane_change_ll_prob - DT_MDL, 0.0)
+        # 98% certainty
+        if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
           self.lane_change_state = LaneChangeState.laneChangeFinishing
 
       # finishing
-      elif self.lane_change_state == LaneChangeState.laneChangeFinishing and lane_change_prob < 0.5:
-        if one_blinker:
+      elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
+        # fade in laneline over 1s
+        self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
+        if one_blinker and self.lane_change_ll_prob > 0.99:
           self.lane_change_state = LaneChangeState.preLaneChange
-        else:
+        elif self.lane_change_ll_prob > 0.99:
           self.lane_change_state = LaneChangeState.off
 
         # when finishing, we reset timer to none.
@@ -203,8 +230,8 @@ class PathPlanner():
 
     # Turn off lanes during lane change
     if desire == log.PathPlan.Desire.laneChangeRight or desire == log.PathPlan.Desire.laneChangeLeft:
-      self.LP.l_prob = 0.
-      self.LP.r_prob = 0.
+      self.LP.l_prob *= self.lane_change_ll_prob
+      self.LP.r_prob *= self.lane_change_ll_prob
       self.libmpc.init_weights(MPC_COST_LAT.PATH / 10.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
     else:
       self.libmpc.init_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 841349367..3d323e6c8 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -152,7 +152,10 @@ class Planner():
       modified = dp_get_last_modified()
       if self.dp_last_modified != modified:
         self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
-        self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8'))
+        try:
+          self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8'))
+        except (TypeError, ValueError):
+          self.dragon_accel_profile = ACCEL_NORMAL_MODE
         if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2:
           self.dragon_accel_profile = 0
         self.dp_last_modified = modified
diff --git a/selfdrive/dragonpilot/shutdownd/shutdownd.py b/selfdrive/dragonpilot/shutdownd/shutdownd.py
index ac92ec713..82b22bc34 100644
--- a/selfdrive/dragonpilot/shutdownd/shutdownd.py
+++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py
@@ -24,7 +24,10 @@ def main():
     if dp_last_modified != modified:
       enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
       if enabled:
-        secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
+        try:
+          secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
+        except (TypeError, ValueError):
+          secs = 0
       dp_last_modified = modified
 
     if last_enabled != enabled or last_secs != secs or started or usb_online:
diff --git a/selfdrive/logcatd/logcatd.cc b/selfdrive/logcatd/logcatd.cc
index 4baa97677..81fafb71d 100644
--- a/selfdrive/logcatd/logcatd.cc
+++ b/selfdrive/logcatd/logcatd.cc
@@ -25,8 +25,8 @@ int main() {
   assert(system_logger);
   struct logger *crash_logger = android_logger_open(logger_list, LOG_ID_CRASH);
   assert(crash_logger);
-//  struct logger *kernel_logger = android_logger_open(logger_list, LOG_ID_KERNEL);
-//  assert(kernel_logger);
+  struct logger *kernel_logger = android_logger_open(logger_list, (log_id_t)5); // LOG_ID_KERNEL
+  assert(kernel_logger);
 
   Context * c = Context::create();
   PubSocket * androidLog = PubSocket::create(c, "androidLog");
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 3c760072b..6e4488588 100644
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -420,8 +420,6 @@ def thermald_thread():
     fw_version_match_prev = fw_version_match
     should_start_prev = should_start
 
-    #print(msg)
-
     # dragonpilot
     ts = sec_since_boot()
     # update variable status every 10 secs
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 28fe11f97..6d5a390bc 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -1249,11 +1249,14 @@ static void ui_draw_blank(UIState *s) {
 }
 
 void ui_draw(UIState *s) {
-  ui_draw_sidebar(s);
   if (s->vision_connected && s->active_app == cereal_UiLayoutState_App_home && s->status != STATUS_STOPPED) {
+    ui_draw_sidebar(s);
     ui_draw_vision(s);
   } else {
     ui_draw_blank(s);
+    if (!s->scene.uilayout_sidebarcollapsed) {
+      ui_draw_sidebar(s);
+    }
   }
 
   {
diff --git a/selfdrive/ui/sidebar.cc b/selfdrive/ui/sidebar.cc
index 036dfd931..1b6eefd7b 100644
--- a/selfdrive/ui/sidebar.cc
+++ b/selfdrive/ui/sidebar.cc
@@ -95,9 +95,9 @@ static void ui_draw_sidebar_battery_text(UIState *s, bool hasSidebar) {
   const int battery_img_x = hasSidebar ? 150 : -(sbr_w);
   const int battery_img_y = 305;
 
-  char battery_str[6];
-  snprintf(battery_str, sizeof(battery_str), "%d%%", s->scene.batteryPercent);
-  nvgFillColor(s->vg, strcmp(s->scene.batteryStatus, "Charging") == 0? COLOR_GREEN : s->scene.batteryPercent <= 50? COLOR_YELLOW : s->scene.batteryPercent <= 15? COLOR_RED : COLOR_WHITE);
+  char battery_str[7];
+  snprintf(battery_str, sizeof(battery_str), "%d%%%s", s->scene.batteryPercent, strcmp(s->scene.batteryStatus, "Charging") == 0 ? "+" : "-");
+  nvgFillColor(s->vg, COLOR_WHITE);
   nvgFontSize(s->vg, 40);
   nvgFontFace(s->vg, "sans-regular");
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ca6bfe13c..6151b1f1b 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -666,9 +666,9 @@ static void ui_update(UIState *s) {
       int ret = zmq_poll(polls, 1, 1000);
     #endif
     if (ret < 0) {
-      if (errno == EINTR) continue;
+      if (errno == EINTR || errno == EAGAIN) continue;
 
-      LOGW("poll failed (%d)", ret);
+      LOGE("poll failed (%d - %d)", ret, errno);
       close(s->ipc_fd);
       s->ipc_fd = -1;
       s->vision_connected = false;