diff --git a/CHANGELOGS-DEV.md b/CHANGELOGS-DEV.md
index 8c3452afa..b0b706800 100644
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,14 @@
+dragonpilot 0.7.7.2
+========================
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
 dragonpilot 0.7.7.1
 ========================
 * 加入 C2 風扇靜音模式。(感謝 @dingliangxue)
diff --git a/CHANGELOGS.md b/CHANGELOGS.md
index 1671ae7f7..d35e63662 100644
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,3 +1,27 @@
+2020-08-11 (0.7.7.0)
+========================
+* 加入 d_poly offset。 (感謝 @ShaneSmiskol)
+* Added d_poly offset. (Thanks to @ShaneSmiskol)
+
+2020-08-05 (0.7.7.0)
+========================
+* 修正 Dev UI 顯示。
+* Fixed Dev UI display.
+* 加入 LQR 控制器開關進設定畫面。
+* Added LQR Controller toggle to settings.
+
+2020-08-04 (0.7.7.0)
+========================
+* 嘗試修正非 Toyota 使用 lqr 產生的錯誤。
+* Attempted to fix lqr issue on non-Toyota Cars.
+* 加入錯誤記錄至 /sdcard/crash_logs/ (感謝 @ShaneSmiskol 提供代碼)
+* Added error logs to /sdcard/crash_logs/ (Special Thanks to @ShaneSmiskol)
+
+2020-08-02 (0.7.7.0)
+========================
+* 加入 ZSS 支援。(感謝 @bobbydough, @WilliamPrius 建議, @bobbydough 測試)
+* Added ZSS support. (Thanks to @bobbydough, @WilliamPrius for recommendation, @bobbydough for testing)
+
 2020-07-28 (0.7.7.0)
 ========================
 * 修正 steer ratio learner 關閉。(感謝 @Mojo 回報, @ShaneSmiskol 提供代碼)
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 2679ffe0e..a9986f669 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/common/dp_conf.py b/common/dp_conf.py
index 8916d8b2a..939198088 100644
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -79,6 +79,7 @@ confs = [
   # toyota
   {'name': 'dp_toyota_ldw', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_zss', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_toyota_lowest_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_lowest_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override', 'vals': [True]}], 'min': 44, 'max': 46, 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_lowest_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_toyota_lowest_cruise_override_speed', 'vals': [True]}], 'min': 27, 'max': 44, 'conf_type': ['param', 'struct']},
diff --git a/opendbc/toyota_prius_2017_pt_generated.dbc b/opendbc/toyota_prius_2017_pt_generated.dbc
index 419a88bb9..6178c406e 100644
--- a/opendbc/toyota_prius_2017_pt_generated.dbc
+++ b/opendbc/toyota_prius_2017_pt_generated.dbc
@@ -132,6 +132,9 @@ BO_ 614 STEERING_IPAS: 8 IPAS
  SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
  SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
 
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
 BO_ 643 PRE_COLLISION: 7 DSU
  SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
  SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 42c450a58..e1d930624 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -20,6 +20,7 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "chrysler"
     ret.safetyModel = car.CarParams.SafetyModel.chrysler
+    ret.lateralTuning.init('pid')
 
     # Chrysler port is a community feature, since we don't own one to test
     ret.communityFeature = True
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 19e0b007a..403638953 100755
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -19,6 +19,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "ford"
     ret.safetyModel = car.CarParams.SafetyModel.ford
     ret.dashcamOnly = True
+    ret.lateralTuning.init('pid')
 
     ret.wheelbase = 2.85
     ret.steerRatio = 14.8
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 208266a49..3b0a02587 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -22,6 +22,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "gm"
     ret.safetyModel = car.CarParams.SafetyModel.gm  # default to gm
     ret.enableCruise = False  # stock cruise control is kept off
+    ret.lateralTuning.init('pid')
 
     # GM port is considered a community feature, since it disables AEB;
     # TODO: make a port that uses a car harness and it only intercepts the camera
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 5eea9d821..b620ea302 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -123,6 +123,7 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "honda"
+    ret.lateralTuning.init('pid')
 
     if candidate in HONDA_BOSCH:
       ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 982257c1c..f97694f4e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -19,6 +19,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "hyundai"
     ret.safetyModel = car.CarParams.SafetyModel.hyundai
     ret.radarOffCan = True
+    ret.lateralTuning.init('pid')
 
     # Most Hyundai car ports are community features for now
     ret.communityFeature = candidate not in [CAR.SONATA]
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index b1488d9d9..1c4eef596 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -21,6 +21,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.carName = "mazda"
     ret.safetyModel = car.CarParams.SafetyModel.mazda
+    ret.lateralTuning.init('pid')
 
     ret.dashcamOnly = True
 
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index f5d2389dc..99d4e7d96 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -20,6 +20,7 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "nissan"
     ret.safetyModel = car.CarParams.SafetyModel.nissan
+    ret.lateralTuning.init('pid')
 
     # Nissan port is a community feature, since we don't own one to test
     ret.communityFeature = True
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 84380a98d..00707a429 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -18,6 +18,7 @@ class CarInterface(CarInterfaceBase):
     ret.carName = "subaru"
     ret.radarOffCan = True
     ret.safetyModel = car.CarParams.SafetyModel.subaru
+    ret.lateralTuning.init('pid')
 
     # Subaru port is a community feature, since we don't own one to test
     ret.communityFeature = True
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 637c39468..3ba5976b3 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -5,6 +5,7 @@ from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_STOP_TIMER_CAR
+from common.params import Params
 
 
 class CarState(CarStateBase):
@@ -13,13 +14,16 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
     self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
 
+    # dp
+    self.dp_toyota_zss = Params().get('dp_toyota_zss') == b'1'
+
     # All TSS2 car have the accurate sensor
-    self.accurate_steer_angle_seen = CP.carFingerprint in TSS2_CAR or CP.carFingerprint in [CAR.LEXUS_ISH]
+    self.accurate_steer_angle_seen = CP.carFingerprint in TSS2_CAR or CP.carFingerprint in [CAR.LEXUS_ISH] or self.dp_toyota_zss
 
     # On NO_DSU cars but not TSS2 cars the cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
     # is zeroed to where the steering angle is at start.
     # Need to apply an offset as soon as the steering angle measurements are both received
-    self.needs_angle_offset = CP.carFingerprint not in TSS2_CAR or CP.carFingerprint in [CAR.LEXUS_ISH]
+    self.needs_angle_offset = CP.carFingerprint not in TSS2_CAR or CP.carFingerprint in [CAR.LEXUS_ISH] or self.dp_toyota_zss
     self.angle_offset = 0.
 
   def update(self, cp, cp_cam):
@@ -55,11 +59,14 @@ class CarState(CarStateBase):
       self.accurate_steer_angle_seen = True
 
     if self.accurate_steer_angle_seen:
-      ret.steeringAngle = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
+      if self.dp_toyota_zss:
+        ret.steeringAngle = cp.vl["SECONDARY_STEER_ANGLE"]['ZORRO_STEER'] - self.angle_offset
+      else:
+        ret.steeringAngle = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
 
       if self.needs_angle_offset:
         angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
-        if abs(angle_wheel) > 1e-3 and abs(ret.steeringAngle) > 1e-3:
+        if (abs(angle_wheel) > 1e-3 and abs(ret.steeringAngle) > 1e-3) or self.dp_toyota_zss:
           self.needs_angle_offset = False
           self.angle_offset = ret.steeringAngle - angle_wheel
     else:
@@ -208,6 +215,9 @@ class CarState(CarStateBase):
       signals += [("R_ADJACENT", "BSM", 0)]
       signals += [("R_APPROACHING", "BSM", 0)]
 
+    if Params().get('dp_toyota_zss') == b'1':
+      signals += [("ZORRO_STEER", "SECONDARY_STEER_ANGLE", 0)]
+
     checks = []
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 64cd38a86..3c17d2e93 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -6,6 +6,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.swaglog import cloudlog
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr
+from common.params import Params
 
 EventName = car.CarEvent.EventName
 
@@ -287,11 +288,16 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    ret.steerRateCost = 1.
+    ret.centerToFront = ret.wheelbase * 0.44
+
     # dp
     ret = common_interface_get_params_lqr(ret)
 
-    ret.steerRateCost = 1.
-    ret.centerToFront = ret.wheelbase * 0.44
+    if candidate == CAR.PRIUS and Params().get('dp_toyota_zss') == b'1':
+      ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.indi.timeConstant = 0.1
+      ret.steerRateCost = 0.5
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index ac4ee31b1..74fb69c83 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -84,35 +84,35 @@ FINGERPRINTS = {
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 830: 7, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1207: 8, 1227: 8, 1235: 8, 1263: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8
   }],
   CAR.PRIUS: [{
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   #2019 LE
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 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, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 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, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   # 2020 Prius Prime LE
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 800: 8, 810: 2, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 800: 8, 810: 2, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
   #2020 Prius Prime Limited
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8, 2026: 8, 2027: 8, 2029: 8, 2030: 8, 2031: 8
   },
   #2020 Central Europe Prime
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 8, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 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, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 767: 4, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 8, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 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, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
   },
   #2017 German Prius
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1792: 8, 1767: 4, 1863: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996: 8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 767: 4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1792: 8, 1767: 4, 1863: 8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996: 8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
   },
   # Taiwan 2020 Prius 4.5
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 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, 1592: 8, 1593: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 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, 1592: 8, 1593: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8
   },
   # Taiwan Prius 4.5
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+    35: 8, 36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 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, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   #Corolla w/ added Pedal Support (512L and 513L)
   CAR.COROLLA: [{
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 979f5dbbe..0e2aae832 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -28,6 +28,7 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
+    ret.lateralTuning.init('pid')
 
     # Set global default parameters
     ret.radarOffCan = True
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 472534126..220a24a31 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -97,6 +97,7 @@ class LanePlanner():
       self.last_ts = sec_since_boot()
     self.l_poly[3] += self.dp_camera_offset
     self.r_poly[3] += self.dp_camera_offset
+    self.p_poly[3] += self.dp_camera_offset
 
     # Find current lanewidth
     self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
diff --git a/selfdrive/crash.py b/selfdrive/crash.py
index d1fa88dee..2ad488af4 100644
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -3,9 +3,12 @@ import os
 import sys
 import threading
 import capnp
+from datetime import datetime
+import traceback
 from selfdrive.version import version, dirty, origin, branch
 from common.params import Params
 uniqueID = Params().get('DongleId', None)
+CRASHES_DIR = '/sdcard/crash_logs/'
 
 from selfdrive.swaglog import cloudlog
 from common.android import ANDROID
@@ -40,11 +43,21 @@ else:
                   install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
 
   def capture_exception(*args, **kwargs):
+    save_exception(traceback.format_exc())
     exc_info = sys.exc_info()
     if not exc_info[0] is capnp.lib.capnp.KjException:
       client.captureException(*args, **kwargs)
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
+  # dp - from @ShaneSmiskol, save log into local directory
+  def save_exception(exc_text):
+    if not os.path.exists(CRASHES_DIR):
+      os.mkdir(CRASHES_DIR)
+    log_file = '{}/{}'.format(CRASHES_DIR, datetime.now().strftime('%Y-%m-%d--%H-%M-%S.%f.log')[:-3])
+    with open(log_file, 'w') as f:
+      f.write(exc_text)
+    print('Logged current crash to {}'.format(log_file))
+
   def bind_user(**kwargs):
     client.user_context(kwargs)
 
diff --git a/selfdrive/dragonpilot/systemd.py b/selfdrive/dragonpilot/systemd.py
index ecc2c9c4d..49a307f4d 100644
--- a/selfdrive/dragonpilot/systemd.py
+++ b/selfdrive/dragonpilot/systemd.py
@@ -218,7 +218,7 @@ def confd_thread():
           try:
             files = [f for f in sorted(os.listdir(DASHCAM_VIDEOS_PATH)) if os.path.isfile(DASHCAM_VIDEOS_PATH + f)]
             os.system("rm -fr %s &" % (DASHCAM_VIDEOS_PATH + files[0]))
-          except (IndexError, FileNotFoundError):
+          except (IndexError, FileNotFoundError, OSError):
             pass
     '''
     ===================================================
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 48ab1cf3f..3fc2a6677 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -173,7 +173,6 @@ ThermalStatus = cereal.log.ThermalData.ThermalStatus
 
 # comment out anything you don't want to run
 managed_processes = {
-  "systemd": "selfdrive.dragonpilot.systemd",
   "thermald": "selfdrive.thermald.thermald",
   "uploader": "selfdrive.loggerd.uploader",
   "deleter": "selfdrive.loggerd.deleter",
@@ -201,6 +200,7 @@ managed_processes = {
   "dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
   "modeld": ("selfdrive/modeld", ["./modeld"]),
   "driverview": "selfdrive.monitoring.driverview",
+  "systemd": "selfdrive.dragonpilot.systemd",
   "appd": "selfdrive.dragonpilot.appd",
 }
 
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 25c624bee..0343c8e75 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -156,7 +156,7 @@ def handle_fan_uno(max_cpu_temp, bat_temp, fan_speed, ignition):
     if dp_uno_fan_mode:
       new_speed = min(10, new_speed)
     else:
-      new_speed = min(30, new_speed)
+      new_speed = min(20, new_speed)
 
   return new_speed
 
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index aa21af713..7f2ce822c 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 (false) {
+  if (!scene->dpUiDev) {
     char rel_steer[9];
     snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", scene->controls_state.getAngleSteers() < 0? "-" : "+", fabs(scene->angleSteers));
 
@@ -1063,7 +1063,7 @@ static void ui_draw_vision_footer(UIState *s) {
   if (s->scene.dpUiDev) {
     ui_draw_bbui(s);
   }
-  if (s->scene.dpDashcam || s->scene.dpAppWaze) {
+  if (s->scene.dpUiDev || s->scene.dpDashcam || s->scene.dpAppWaze) {
     ui_draw_infobar(s);
   }