clean up

Merge pull request #99 from lirudy/0.8.7
fix： vw white panda with j533 acc error
2026-06-12 17:26:38 +08:00 · 2021-10-27 15:38:32 +08:00 · 2021-08-31 22:09:35 +10:00 · 2021-08-30 23:46:13 -07:00 · 2021-08-30 16:52:33 +00:00 · 2021-08-30 17:00:51 +08:00
293 changed files with 8680 additions and 1251 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -41,6 +41,8 @@ selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 selfdrive/proclogd/proclogd
+
+
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
 selfdrive/loggerd/loggerd
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,3 +1,44 @@
+dragonpilot 0.8.7-4
+========================
+* 2017 JADE w/ Added Comma Pedal Support. (Thanks to @lijunhao731)
+* Fixed toyota / honda brake light display. (Thanks to @loveloveses)
+* Fixed UI toggle. (Thanks to @鄧育林、@謝聖鴻)
+* Fixed VW resume/display issue. (Thanks to @SKY)
+* Fixed CJK font installation issue.
+
+dragonpilot 0.8.7-3
+========================
+* Bug fixes.
+* Fixed gpxd.
+* Added some Chinese support.
+
+dragonpilot 0.8.7-2
+========================
+* Fixed sound issue.
+* Changed gpx logs to OSM compatible format.
+* HONDA: Added BSM support for CRV-Hybrid.
+* HONDA: Added toggle to force displaying km/h in HUD.
+* TOYOTA: Add new Toggles under DP - Cars to enable/disable Following Modes / Accel Modes with physical button feature. 
+
+dragonpilot 0.8.7-1
+========================
+* Based on openpilot 0.8.7 devel.
+* Support 1+3t / C2 / Jetson Xavier NX.
+* Support White / Grey Panda.
+* TOYOTA: Can now change Following Modes with physical button from the steering wheel.
+* TOYOTA: Can now change Acceleration Modes with physical button if your car supports it.
+* TOYOTA: Added Low speed override toggles.
+* Dev UI now displays RPM reading.
+* Added Prebuilt toggle for faster boot.
+* Lexus RX high RPM fix. (Thanks to @crazysim).
+* Added toggle to launch Language settings.
+* Added toggle to launch Volume settings.
+* Added toggle to launch date/time settings.
+* Added toggle to flash panda.
+* Added toggle to recover panda firmware.
+* Added toggle to delete logging (/sdcard/realdata).
+* Added GPS Logger.
+
 dragonpilot 0.8.6-1
 ========================
 * Based on openpilot 0.8.6 devel.
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -1,28 +1,35 @@
 # CONTRIBUTORS

-Due to the way we manage the source code, it is not possible to see all the contributors info, hence we create a list here.
-
+Due to the way we manage the source code, it is not possible to see all the contributors' info, hence we create a list here.
 If you have contributed to DP project before and your name is not listed here, feel free to send us a PR to update this!

-name                                                         | github                                                       | contribution
------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------
-andy741217                                                   | [andy741217](https://github.com/andy741217)                  | New features, bug fixes
-Arne Schwarck                                                | [arne182](https://github.com/arne182)                        | New features, bug fixes
-berno22                                                      | [berno22](https://github.com/berno22)                        | New car fingerprint
-Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)                  | Bug fixes
-Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)    | New Features
-DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                      | New features, bug fixes
-dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)              | New features, bug fixes
-eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                  | Tester
-kegman                                                       | [kegman](https://github.com/kegman)                          | New features, bug fixes
-kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | DP main maintainer, New features, bug fixes
-lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)                | New car fingerprint
-lirudy                                                       | [lirudy](https://github.com/lirudy)                          | Bug fixes
-LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                      | Bug fixes
-loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Bug fixes, DP wiki main maintainer
-menwenliang                                                  | [menwenliang](https://github.com/menwenliang)                | New features
-Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Project lead
-rming                                                        | [Rming](https://github.com/rming)                            | Bug fixes, wiki contributor
-sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)                | Bug fixes
-Shane Smiskol                                                | [sshane](https://github.com/sshane)                          | New features, bug fixes
-toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                        | New features, bug fixes
+### TEAM
+Name                                                         | github                                                       | Role 
+------------------------------------------------------------ | ------------------------------------------------------------ | ------------------------------------------------------------ 
+cafe                                                         | [cafe](https://github.com/coffice12)                         | Resource Provider
+kumar                                                        | [rav4kumar](https://github.com/rav4kumar)                    | Release Maintainer
+loveloveses                                                  | [loveloveses](https://github.com/loveloveses)                | Wiki Maintainer
+Rick Lan                                                     | [efinilan](https://github.com/efinilan)                      | Release Maintainer
+
+### CONTRIBUTORS
+Name                                                         | github                                                      
+------------------------------------------------------------ | ------------------------------------------------------------
+andy741217                                                   | [andy741217](https://github.com/andy741217)                 
+Arne Schwarck                                                | [arne182](https://github.com/arne182)                       
+berno22                                                      | [berno22](https://github.com/berno22)                       
+Bobbydough                                                   | [Bobbydough](https://github.com/bobbydough)
+cgw1968                                                      | [cgw1968](https://github.com/cgw1968-5779)
+Curtis Jenkins                                               | [actuallylemoncurd](https://github.com/actuallylemoncurd)   
+DFyffe                                                       | [donfyffe](https://github.com/donfyffe)                     
+dinglx                                                       | [dingliangxue](https://github.com/dingliangxue)             
+eyezenheim                                                   | [eyezenheim](https://github.com/eyezenheim)                 
+kegman                                                       | [kegman](https://github.com/kegman)                         
+lijunhao731                                                  | [lijunhao731](https://github.com/lijunhao731)               
+lirudy                                                       | [lirudy](https://github.com/lirudy)                         
+LOVEChen                                                     | [LOVEChen](https://github.com/LOVEChen)                     
+menwenliang                                                  | [menwenliang](https://github.com/menwenliang)               
+Nelson Chen                                                  | [nelsonjchen](https://github.com/nelsonjchen)
+rming                                                        | [Rming](https://github.com/rming)                           
+sebastian4k                                                  | [sebastian4k](https://github.com/sebastian4k)               
+Shane Smiskol                                                | [sshane](https://github.com/sshane)                         
+toyboxZ                                                      | [toyboxZ](https://github.com/toyboxZ)                       
--- a/HOWTO-ONEPLUS.md
+++ b/HOWTO-ONEPLUS.md
@@ -1,9 +1,9 @@
 How to install on Oneplus 3t?
 ------
 1. clone dragonpilot to /data/ and make sure it's named openpilot:
-   (手動安裝切換至 dragonpilot 0.8.6 branch)
+   (手動安裝切換至 dp)
 ```
-cd /data/ && rm -fr openpilot; && git clone https://github.com/dragonpilot-community/dragonpilot.git -b 0.8.4
+cd /data/ && rm -fr openpilot ; git clone https://github.com/dragonpilot-community/dragonpilot.git openpilot -b 0.8.7
 ```

 2. run command:
@@ -22,4 +22,4 @@ cd /data/openpilot/scripts/ && ./oneplus_update_neos.sh
   (在 Recovery mode，點選 `apply update` -> `Choose from emulated` -> `0/` -> `update.zip` -> `Reboot system now`)
   
 6. You should be able to boot into openpilot, if touch screen is not working, try to reboot again.
-   (你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
+   (你現在應該可以進入 openpilot 畫面，如果點擊畫面沒有反應，請再重新開機一次)
--- a/JETSON.md
+++ b/JETSON.md
@@ -0,0 +1,10 @@
+set_core_affinity 
+------
+Jetson Xavier NX has 6 cores running at 1.9 GHz, here is what I've defined
+
+0 = (not specified)
+1 = plannerd / radard
+2 = boardd
+3 = controlsd
+4 = camerad
+5 = modeld
--- a/27
+++ b/27
@@ -71,7 +71,24 @@ pipeline {
      }
      steps {
        phone_steps("eon-build", [
-          ["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+          ["build release2-staging & dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
+        ])
+      }
+    }
+
+    stage('Build release3') {
+      agent {
+        docker {
+          image 'python:3.7.3'
+          args '--user=root'
+        }
+      }
+      when {
+        branch 'devel-staging'
+      }
+      steps {
+        phone_steps("tici", [
+          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release3.sh"],
        ])
      }
    }
@@ -80,7 +97,10 @@ pipeline {
      when {
        not {
          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'; branch 'hotfix-*'
+            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
+            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
+            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
+            branch 'testing-closet*'; branch 'hotfix-*'
          }
        }
      }
@@ -152,7 +172,7 @@ pipeline {
                    phone_steps("eon", [
                      ["build", "cd selfdrive/manager && ./build.py"],
                      ["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
-                      ["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
+                      ["test sounds", "nosetests -s selfdrive/ui/tests/test_sounds.py"],
                      ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
                      ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                      ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
@@ -191,7 +211,6 @@ pipeline {
                    phone_steps("tici", [
                      ["build", "cd selfdrive/manager && ./build.py"],
                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-                      //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
                    ])
                  }
                }
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-[![](https://i.imgur.com/UelUjKAh.png)](#)
+![](https://user-images.githubusercontent.com/37757984/127420744-89ca219c-8f8e-46d3-bccf-c1cb53b81bb1.png)

 Table of Contents
 =======================
@@ -57,7 +57,7 @@ openpilot should preserve all other vehicle's stock features, including, but are
 Supported Hardware
 ------

-At the moment, openpilot supports the EON Gold DevKit and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
+At the moment, openpilot supports the EON Gold DevKit, [comma two](https://comma.ai/shop/products/two), and [comma three](https://comma.ai/shop/products/three). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect your device to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).

 Supported Cars
 ------
@@ -204,6 +204,7 @@ Community Maintained Cars and Features
 | Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Cross 2021                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |

@@ -219,7 +220,7 @@ Although they're not upstream, the community has openpilot running on other make
 Installation Instructions
 ------

-Install openpilot on an EON Gold or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
+Install openpilot on a supported device by entering ``https://openpilot.comma.ai`` during the installer setup.

 Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.

@@ -298,13 +299,13 @@ openpilot is open source software: the user is free to disable data collection i
 openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.

-By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+By using openpilot, you agree to [our Privacy Policy](https://connect.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.

 Safety and Testing
 ----

 * openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
-* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
+* openpilot has software in the loop [tests](.github/workflows/selfdrive_tests.yaml) that run on every commit.
 * The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
 * panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
 * Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,9 @@
+Version 0.8.7 (2021-07-31)
+========================
+ * comma three support!
+ * Navigation alpha for the comma three!
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
+
 Version 0.8.6 (2021-07-21)
 ========================
 * Revamp lateral and longitudinal planners
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -141,6 +141,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    timebombWarn @110;
    timebombBypassing @111;
    timebombBypassed @112;
+    mapdAlert @113;
  }
 }

@@ -209,6 +210,7 @@ struct CarState {
  # dp
  lkMode @37 :Bool;
  stopSteering @38 :Bool; # timebomb - stopSteering
+  engineRPM @39 :Float32;

  struct WheelSpeeds {
    # optional wheel speeds
--- a/cereal/dp.capnp
+++ b/cereal/dp.capnp
@@ -45,13 +45,17 @@ struct DragonConf {
  dpUiVolume @31 :Int8;
  dpToyotaLdw @32 :Bool;
  dpToyotaSng @33 :Bool;
-  dpVwTimebombAssist @34 :Bool;
-  dpIpAddr @35 :Text;
-  dpCameraOffset @36 :Int8;
-  dpPathOffset @37 :Int8;
-  dpLocale @38 :Text;
-  dpSrLearner @39 :Bool;
-  dpSrCustom @40 :Float32;
-  dpAppd @41 :Bool;
-  dpDebug @42 :Bool;
-}
+  dpToyotaCruiseOverride @34 :Bool;
+  dpToyotaCruiseOverrideVego @35 :Bool;
+  dpToyotaCruiseOverrideAt @36 :Float32;
+  dpToyotaCruiseOverrideSpeed @37 :Float32;
+  dpVwTimebombAssist @38 :Bool;
+  dpIpAddr @39 :Text;
+  dpCameraOffset @40 :Int8;
+  dpPathOffset @41 :Int8;
+  dpLocale @42 :Text;
+  dpSrLearner @43 :Bool;
+  dpSrCustom @44 :Float32;
+  dpAppd @45 :Bool;
+  dpMapd @46 :Bool;
+}
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -434,6 +434,7 @@ struct PandaState @0xa7649e2575e4591e {
    pedal @4;
    uno @5;
    dos @6;
+    red @7;
  }

  enum UsbPowerMode {
--- a/cereal/visionipc/visionbuf.h
+++ b/cereal/visionipc/visionbuf.h
@@ -49,7 +49,6 @@ class VisionBuf {

  // ion
  int handle = 0;
-  bool owner = false;

  void allocate(size_t len);
  void import();
--- a/cereal/visionipc/visionbuf_ion.cc
+++ b/cereal/visionipc/visionbuf_ion.cc
@@ -62,7 +62,6 @@ void VisionBuf::allocate(size_t len) {

  memset(addr, 0, ion_alloc.len);

-  this->owner = true;
  this->len = len;
  this->mmap_len = ion_alloc.len;
  this->addr = addr;
@@ -82,7 +81,6 @@ void VisionBuf::import(){
  err = ioctl(ion_fd, ION_IOC_IMPORT, &fd_data);
  assert(err == 0);

-  this->owner = false;
  this->handle = fd_data.handle;
  this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
  assert(this->addr != MAP_FAILED);
@@ -139,10 +137,6 @@ void VisionBuf::free() {
  munmap(this->addr, this->mmap_len);
  close(this->fd);

-  // Free the ION buffer if we also shared it
-  if (this->owner){
-    struct ion_handle_data handle_data = {.handle = this->handle};
-    int ret = ioctl(ion_fd, ION_IOC_FREE, &handle_data);
-    assert(ret == 0);
-  }
+  struct ion_handle_data handle_data = {.handle = this->handle};
+  ioctl(ion_fd, ION_IOC_FREE, &handle_data);
 }
--- a/cereal/visionipc/visionipc_server.cc
+++ b/cereal/visionipc/visionipc_server.cc
@@ -122,7 +122,6 @@ void VisionIpcServer::listener(){
      bufs[i].buf_cl = 0;
      bufs[i].copy_q = 0;
      bufs[i].handle = 0;
-      bufs[i].owner = false;

      bufs[i].server_id = server_id;
    }
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -60,14 +60,22 @@ confs = [
  {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
  {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
  # toyota
+  {'name': 'dp_lexus_rx_rpm_fix', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
  {'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_fp_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_toyota_disable_relay', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_cruise_override_vego', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_cruise_override_at', 'default': 44, 'type': 'Float32', 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_cruise_override_speed', 'default': 32, 'type': 'Float32', 'depends': [{'name': 'dp_atl', 'vals': [False]}, {'name': 'dp_toyota_cruise_override', 'vals': [True]}], 'min': 0, 'max': 50., 'conf_type': ['param', 'struct']},
  # hyundai
  {'name': 'dp_hkg_smart_mdps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # honda
  {'name': 'dp_honda_eps_mod', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_honda_kmh_display', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  # volkswagen
  {'name': 'dp_vw_panda', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_vw_timebomb_assist', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -96,7 +104,12 @@ confs = [
  {'name': 'dp_panda_fake_black', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_panda_no_gps', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_last_candidate', 'default': '', 'type': 'Text', 'conf_type': ['param']},
-  {'name': 'dp_debug', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_prebuilt', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_gpxd', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
+  {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # custom server support
+  # {'name': 'dp_custom_server', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  # {'name': 'dp_custom_server_url', 'default': 'api.retropilot.org', 'type': 'Text', 'depends': [{'name': 'dp_custom_server', 'vals': [True]}], 'conf_type': ['param', 'struct']},
 ]

 def get_definition(name):
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -158,7 +158,7 @@ class SwagLogger(logging.Logger):
    evt.update(kwargs)
    if 'error' in kwargs:
      self.error(evt)
-    if 'debug' in kwargs:
+    elif 'debug' in kwargs:
      self.debug(evt)
    else:
      self.info(evt)
--- a/installer/continue_openpilot.sh
+++ b/installer/continue_openpilot.sh
@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+
+cd /data/openpilot
+exec ./launch_openpilot.sh
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -1,813 +0,0 @@
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cstdio>
-#include <cstdlib>
-#include <cstring>
-#include <fstream>
-#include <iostream>
-#include <memory>
-#include <mutex>
-#include <sstream>
-#include <string>
-#include <thread>
-
-#include <curl/curl.h>
-#include <openssl/sha.h>
-#include <EGL/egl.h>
-#include <EGL/eglext.h>
-#include <GLES3/gl3.h>
-#include "nanovg.h"
-#define NANOVG_GLES3_IMPLEMENTATION
-#include "json11.hpp"
-#include "nanovg_gl.h"
-#include "nanovg_gl_utils.h"
-
-#include "selfdrive/common/framebuffer.h"
-#include "selfdrive/common/touch.h"
-#include "selfdrive/common/util.h"
-
-#define USER_AGENT "NEOSUpdater-0.2"
-
-#define MANIFEST_URL_NEOS_STAGING "https://github.com/commaai/eon-neos/raw/master/update.staging.json"
-#define MANIFEST_URL_NEOS_LOCAL "http://192.168.5.1:8000/neosupdate/update.local.json"
-#define MANIFEST_URL_NEOS "https://github.com/commaai/eon-neos/raw/master/update.json"
-const char *manifest_url = MANIFEST_URL_NEOS;
-
-#define RECOVERY_DEV "/dev/block/bootdevice/by-name/recovery"
-#define RECOVERY_COMMAND "/cache/recovery/command"
-
-#define UPDATE_DIR "/data/neoupdate"
-
-extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
-
-namespace {
-
-std::string sha256_file(std::string fn, size_t limit=0) {
-  SHA256_CTX ctx;
-  SHA256_Init(&ctx);
-
-  FILE *file = fopen(fn.c_str(), "rb");
-  if (!file) return "";
-
-  const size_t buf_size = 8192;
-  std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-  bool read_limit = (limit != 0);
-  while (true) {
-    size_t read_size = buf_size;
-    if (read_limit) read_size = std::min(read_size, limit);
-    size_t bytes_read = fread(buffer.get(), 1, read_size, file);
-    if (!bytes_read) break;
-
-    SHA256_Update(&ctx, buffer.get(), bytes_read);
-
-    if (read_limit) {
-      limit -= bytes_read;
-      if (limit == 0) break;
-    }
-  }
-
-  uint8_t hash[SHA256_DIGEST_LENGTH];
-  SHA256_Final(hash, &ctx);
-
-  fclose(file);
-
-  return util::tohex(hash, sizeof(hash));
-}
-
-size_t download_string_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  size_t sz = size * nmeb;
-  ((std::string*)up)->append((char*)ptr, sz);
-  return sz;
-}
-
-std::string download_string(CURL *curl, std::string url) {
-  std::string os;
-
-  curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-  curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-  curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-  curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-  curl_easy_setopt(curl, CURLOPT_RESUME_FROM, 0);
-
-  curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 1);
-
-  curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_string_write);
-  curl_easy_setopt(curl, CURLOPT_WRITEDATA, &os);
-  CURLcode res = curl_easy_perform(curl);
-  if (res != CURLE_OK) {
-    return "";
-  }
-
-  return os;
-}
-
-size_t download_file_write(void *ptr, size_t size, size_t nmeb, void *up) {
-  return fwrite(ptr, size, nmeb, (FILE*)up);
-}
-
-int battery_capacity() {
-  std::string bat_cap_s = util::read_file("/sys/class/power_supply/battery/capacity");
-  return atoi(bat_cap_s.c_str());
-}
-
-int battery_current() {
-  std::string current_now_s = util::read_file("/sys/class/power_supply/battery/current_now");
-  return atoi(current_now_s.c_str());
-}
-
-bool has_no_battery() {
-  if (FILE *file = fopen("/data/params/d/dp_no_batt", "r")) {
-    fclose(file);
-    std::string has_no_batt = util::read_file("/data/params/d/dp_no_batt");
-    return atoi(has_no_batt.c_str()) == 1;
-  } else {
-    return false;
-  }
-}
-
-bool check_battery() {
-  int bat_cap = battery_capacity();
-  int current_now = battery_current();
-  return (has_no_battery())? true : bat_cap > 35 || (current_now < 0 && bat_cap > 10);
-}
-
-bool check_space() {
-  struct statvfs stat;
-  if (statvfs("/data/", &stat) != 0) {
-    return false;
-  }
-  size_t space = stat.f_bsize * stat.f_bavail;
-  return space > 2000000000ULL; // 2GB
-}
-
-static void start_settings_activity(const char* name) {
-  char launch_cmd[1024];
-  snprintf(launch_cmd, sizeof(launch_cmd),
-           "am start -W --ez :settings:show_fragment_as_subsetting true -n 'com.android.settings/.%s'", name);
-  system(launch_cmd);
-}
-
-bool is_settings_active() {
-  FILE *fp;
-  char sys_output[4096];
-
-  fp = popen("/bin/dumpsys window windows", "r");
-  if (fp == NULL) {
-    return false;
-  }
-
-  bool active = false;
-  while (fgets(sys_output, sizeof(sys_output), fp) != NULL) {
-    if (strstr(sys_output, "mCurrentFocus=null")  != NULL) {
-      break;
-    }
-
-    if (strstr(sys_output, "mCurrentFocus=Window") != NULL) {
-      active = true;
-      break;
-    }
-  }
-
-  pclose(fp);
-
-  return active;
-}
-
-struct Updater {
-  bool do_exit = false;
-
-  TouchState touch;
-
-  int fb_w, fb_h;
-
-  std::unique_ptr<FrameBuffer> fb;
-  NVGcontext *vg = NULL;
-  int font_regular;
-  int font_semibold;
-  int font_bold;
-
-  std::thread update_thread_handle;
-
-  std::mutex lock;
-
-  enum UpdateState {
-    CONFIRMATION,
-    LOW_BATTERY,
-    RUNNING,
-    ERROR,
-  };
-  UpdateState state;
-
-  std::string progress_text;
-  float progress_frac;
-
-  std::string error_text;
-
-  std::string low_battery_text;
-  std::string low_battery_title;
-  std::string low_battery_context;
-  std::string battery_cap_text;
-  int min_battery_cap = 35;
-
-  // button
-  int b_x, b_w, b_y, b_h;
-  int balt_x;
-
-  // download stage writes these for the installation stage
-  int recovery_len;
-  std::string recovery_hash;
-  std::string recovery_fn;
-  std::string ota_fn;
-
-  CURL *curl = NULL;
-
-  void ui_init() {
-    touch_init(&touch);
-
-    fb = std::make_unique<FrameBuffer>("updater", 0x00001000, false, &fb_w, &fb_h);
-
-    fb->set_power(HWC_POWER_MODE_NORMAL);
-
-    vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
-    assert(vg);
-
-    font_regular = nvgCreateFontMem(vg, "opensans_regular", (unsigned char*)bin_opensans_regular, (bin_opensans_regular_end - bin_opensans_regular), 0);
-    assert(font_regular >= 0);
-
-    font_semibold = nvgCreateFontMem(vg, "opensans_semibold", (unsigned char*)bin_opensans_semibold, (bin_opensans_semibold_end - bin_opensans_semibold), 0);
-    assert(font_semibold >= 0);
-
-    font_bold = nvgCreateFontMem(vg, "opensans_bold", (unsigned char*)bin_opensans_bold, (bin_opensans_bold_end - bin_opensans_bold), 0);
-    assert(font_bold >= 0);
-
-    b_w = 640;
-    balt_x = 200;
-    b_x = fb_w-b_w-200;
-    b_y = 720;
-    b_h = 220;
-
-    if (download_stage(true)) {
-      state = RUNNING;
-      update_thread_handle = std::thread(&Updater::run_stages, this);
-    } else {
-      state = CONFIRMATION;
-    }
-  }
-
-  int download_file_xferinfo(curl_off_t dltotal, curl_off_t dlno,
-                             curl_off_t ultotal, curl_off_t ulnow) {
-    {
-      std::lock_guard<std::mutex> guard(lock);
-      if (dltotal != 0) {
-        progress_frac = (float) dlno / dltotal;
-      }
-    }
-    // printf("info: %ld %ld %f\n", dltotal, dlno, progress_frac);
-    return 0;
-  }
-
-  bool download_file(std::string url, std::string out_fn) {
-    FILE *of = fopen(out_fn.c_str(), "ab");
-    assert(of);
-
-    CURLcode res;
-    long last_resume_from = 0;
-
-    fseek(of, 0, SEEK_END);
-
-    int tries = 4;
-
-    bool ret = false;
-
-    while (true) {
-      long resume_from = ftell(of);
-
-      curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
-      curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1);
-      curl_easy_setopt(curl, CURLOPT_NOSIGNAL, 0);
-      curl_easy_setopt(curl, CURLOPT_USERAGENT, USER_AGENT);
-      curl_easy_setopt(curl, CURLOPT_FAILONERROR, 1);
-      curl_easy_setopt(curl, CURLOPT_RESUME_FROM, resume_from);
-
-      curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, download_file_write);
-      curl_easy_setopt(curl, CURLOPT_WRITEDATA, of);
-
-      curl_easy_setopt(curl, CURLOPT_NOPROGRESS, 0);
-
-      curl_easy_setopt(curl, CURLOPT_XFERINFODATA, this);
-      curl_easy_setopt(curl, CURLOPT_XFERINFOFUNCTION, &Updater::download_file_xferinfo);
-
-      CURLcode res = curl_easy_perform(curl);
-
-      long response_code = 0;
-      curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &response_code);
-
-      // double content_length = 0.0;
-      // curl_easy_getinfo(curl, CURLINFO_CONTENT_LENGTH_DOWNLOAD, &content_length);
-
-      printf("download %s res %d, code %ld, resume from %ld\n", url.c_str(), res, response_code, resume_from);
-      if (res == CURLE_OK) {
-        ret = true;
-        break;
-      } else if (res == CURLE_HTTP_RETURNED_ERROR && response_code == 416) {
-        // failed because the file is already complete?
-        ret = true;
-        break;
-      } else if (resume_from == last_resume_from) {
-        // failed and dind't make make forward progress. only retry a couple times
-        tries--;
-        if (tries <= 0) {
-          break;
-        }
-      }
-      last_resume_from = resume_from;
-    }
-    // printf("res %d\n", res);
-
-    // printf("- %ld %f\n", response_code, content_length);
-
-    fclose(of);
-
-    return ret;
-  }
-
-  void set_progress(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    progress_text = text;
-  }
-
-  void set_error(std::string text) {
-    std::lock_guard<std::mutex> guard(lock);
-    error_text = text;
-    state = ERROR;
-  }
-
-  void set_battery_low() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = LOW_BATTERY;
-  }
-
-  void set_running() {
-    std::lock_guard<std::mutex> guard(lock);
-    state = RUNNING;
-  }
-
-  std::string download(std::string url, std::string hash, std::string name, bool dry_run) {
-    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);
-
-    std::string fn_hash = sha256_file(out_fn);
-    if (dry_run) {
-      return (hash.compare(fn_hash) != 0) ? "" : out_fn;
-    }
-
-    // start or resume downloading if hash doesn't match
-    if (hash.compare(fn_hash) != 0) {
-      set_progress("Downloading " + name + "...");
-      bool r = download_file(url, out_fn);
-      if (!r) {
-        set_error("failed to download " + name);
-        unlink(out_fn.c_str());
-        return "";
-      }
-      fn_hash = sha256_file(out_fn);
-    }
-
-    set_progress("Verifying " + name + "...");
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
-    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
-      unlink(out_fn.c_str());
-      return "";
-    }
-    return out_fn;
-  }
-
-  bool download_stage(bool dry_run = false) {
-    curl = curl_easy_init();
-    assert(curl);
-
-    // ** quick checks before download **
-
-    if (!check_space()) {
-      if (!dry_run) set_error("2GB of free space required to update");
-      return false;
-    }
-
-    mkdir(UPDATE_DIR, 0777);
-
-    set_progress("Finding latest version...");
-    std::string manifest_s = download_string(curl, manifest_url);
-    printf("manifest: %s\n", manifest_s.c_str());
-
-    std::string err;
-    auto manifest = json11::Json::parse(manifest_s, err);
-    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
-      return false;
-    }
-
-    std::string ota_url = manifest["ota_url"].string_value();
-    std::string ota_hash = manifest["ota_hash"].string_value();
-
-    std::string recovery_url = manifest["recovery_url"].string_value();
-    recovery_hash = manifest["recovery_hash"].string_value();
-    recovery_len = manifest["recovery_len"].int_value();
-
-    // std::string installer_url = manifest["installer_url"].string_value();
-    // std::string installer_hash = manifest["installer_hash"].string_value();
-
-    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
-      return false;
-    }
-
-    // std::string installer_fn = download(installer_url, installer_hash, "installer");
-    // if (installer_fn.empty()) {
-    //   //error'd
-    //   return;
-    // }
-
-    // ** handle recovery download **
-    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
-    } else {
-      // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
-      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
-
-      if (existing_recovery_hash != recovery_hash) {
-        recovery_fn = download(recovery_url, recovery_hash, "recovery", dry_run);
-        if (recovery_fn.empty()) {
-          // error'd
-          return false;
-        }
-      }
-    }
-
-    // ** handle ota download **
-    ota_fn = download(ota_url, ota_hash, "update", dry_run);
-    if (ota_fn.empty()) {
-      //error'd
-      return false;
-    }
-
-    // download sucessful
-    return true;
-  }
-
-  // thread that handles downloading and installing the update
-  void run_stages() {
-    printf("run_stages start\n");
-
-
-    // ** download update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        util::sleep_for(1000);
-      }
-      set_running();
-    }
-
-    bool sucess = download_stage();
-    if (!sucess) {
-      return;
-    }
-
-    // ** install update **
-
-    if (!check_battery()) {
-      set_battery_low();
-      int battery_cap = battery_capacity();
-      while(battery_cap < min_battery_cap) {
-        battery_cap = battery_capacity();
-        battery_cap_text = std::to_string(battery_cap);
-        util::sleep_for(1000);
-      }
-      set_running();
-    }
-
-    if (!recovery_fn.empty()) {
-      // flash recovery
-      set_progress("Flashing recovery...");
-
-      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
-      if (!flash_file) {
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
-      if (!recovery_dev) {
-        fclose(flash_file);
-        set_error("failed to flash recovery");
-        return;
-      }
-
-      const size_t buf_size = 4096;
-      std::unique_ptr<char[]> buffer( new char[ buf_size ] );
-
-      while (true) {
-        size_t bytes_read = fread(buffer.get(), 1, buf_size, flash_file);
-        if (!bytes_read) break;
-
-        size_t bytes_written = fwrite(buffer.get(), 1, bytes_read, recovery_dev);
-        if (bytes_read != bytes_written) {
-          fclose(recovery_dev);
-          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
-          return;
-        }
-      }
-
-      fclose(recovery_dev);
-      fclose(flash_file);
-
-      set_progress("Verifying flash...");
-      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
-
-      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
-        return;
-      }
-
-    }
-
-    // write arguments to recovery
-    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
-    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
-      return;
-    }
-    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
-    fclose(cmd_file);
-
-    set_progress("Rebooting");
-
-    // remove the continue.sh so we come back into the setup.
-    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
-    //unlink("/data/data/com.termux/files/continue.sh");
-
-    // TODO: this should be generic between android versions
-    // IPowerManager.reboot(confirm=false, reason="recovery", wait=true)
-    system("service call power 16 i32 0 s16 recovery i32 1");
-    while (true) pause();
-
-    // execl("/system/bin/reboot", "recovery");
-    // set_error("failed to reboot into recovery");
-  }
-
-  void draw_ack_screen(const char *title, const char *message, const char *button, const char *altbutton) {
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, title, NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, message, NULL);
-
-    // draw button
-    if (button) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, b_x+b_w/2, b_y+b_h/2, button, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, b_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-
-    // draw button
-    if (altbutton) {
-      nvgBeginPath(vg);
-      nvgFillColor(vg, nvgRGBA(8, 8, 8, 255));
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgFill(vg);
-
-      nvgFillColor(vg, nvgRGBA(255, 255, 255, 255));
-      nvgFontFace(vg, "opensans_semibold");
-      nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
-      nvgText(vg, balt_x+b_w/2, b_y+b_h/2, altbutton, NULL);
-
-      nvgBeginPath(vg);
-      nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 50));
-      nvgStrokeWidth(vg, 5);
-      nvgRoundedRect(vg, balt_x, b_y, b_w, b_h, 20);
-      nvgStroke(vg);
-    }
-  }
-
-  void draw_battery_screen() {
-    low_battery_title = "Low Battery";
-    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
-    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
-
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 120.0f);
-    nvgTextBox(vg, 110, 220, fb_w-240, low_battery_title.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_regular");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 380, fb_w-260, low_battery_text.c_str(), NULL);
-
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 130, 700, fb_w-260, low_battery_context.c_str(), NULL);
-  }
-
-  void draw_progress_screen() {
-    // draw progress message
-    nvgFontSize(vg, 64.0f);
-    nvgFillColor(vg, nvgRGBA(255,255,255,255));
-    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
-    nvgFontFace(vg, "opensans_bold");
-    nvgFontSize(vg, 86.0f);
-    nvgTextBox(vg, 0, 380, fb_w, progress_text.c_str(), NULL);
-
-    // draw progress bar
-    {
-      int progress_width = 1000;
-      int progress_x = fb_w/2-progress_width/2;
-      int progress_y = 520;
-      int progress_height = 50;
-
-      int powerprompt_y = 312;
-      nvgFontFace(vg, "opensans_regular");
-      nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "Ensure your device remains connected to a power source.", NULL);
-
-      NVGpaint paint = nvgBoxGradient(
-          vg, progress_x + 1, progress_y + 1,
-          progress_width - 2, progress_height, 3, 4, nvgRGB(27, 27, 27), nvgRGB(27, 27, 27));
-      nvgBeginPath(vg);
-      nvgRoundedRect(vg, progress_x, progress_y, progress_width, progress_height, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-
-      float value = std::min(std::max(0.0f, progress_frac), 1.0f);
-      int bar_pos = ((progress_width - 2) * value);
-
-      paint = nvgBoxGradient(
-          vg, progress_x, progress_y,
-          bar_pos+1.5f, progress_height-1, 3, 4,
-          nvgRGB(245, 245, 245), nvgRGB(105, 105, 105));
-
-      nvgBeginPath(vg);
-      nvgRoundedRect(
-          vg, progress_x+1, progress_y+1,
-          bar_pos, progress_height-2, 12);
-      nvgFillPaint(vg, paint);
-      nvgFill(vg);
-    }
-  }
-
-  void ui_draw() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
-
-    switch (state) {
-    case CONFIRMATION:
-      draw_ack_screen("An update to NEOS is required.",
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
-                      "Continue",
-                      "Connect to WiFi");
-      break;
-    case LOW_BATTERY:
-      draw_battery_screen();
-      break;
-    case RUNNING:
-      draw_progress_screen();
-      break;
-    case ERROR:
-      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
-      break;
-    }
-
-    nvgEndFrame(vg);
-  }
-
-  void ui_update() {
-    std::lock_guard<std::mutex> guard(lock);
-
-    if (state == ERROR || state == CONFIRMATION) {
-      int touch_x = -1, touch_y = -1;
-      int res = touch_poll(&touch, &touch_x, &touch_y, 0);
-      if (res == 1 && !is_settings_active()) {
-        if (touch_x >= b_x && touch_x < b_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            state = RUNNING;
-            update_thread_handle = std::thread(&Updater::run_stages, this);
-          }
-        }
-        if (touch_x >= balt_x && touch_x < balt_x+b_w && touch_y >= b_y && touch_y < b_y+b_h) {
-          if (state == CONFIRMATION) {
-            start_settings_activity("Settings$WifiSettingsActivity");
-          } else if (state == ERROR) {
-            do_exit = 1;
-          }
-        }
-      }
-    }
-  }
-
-  void go() {
-    ui_init();
-
-    while (!do_exit) {
-      ui_update();
-
-      glClearColor(0.08, 0.08, 0.08, 1.0);
-      glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-      // background
-      nvgBeginPath(vg);
-      NVGpaint bg = nvgLinearGradient(vg, fb_w, 0, fb_w, fb_h,
-        nvgRGBA(0, 0, 0, 0), nvgRGBA(0, 0, 0, 255));
-      nvgFillPaint(vg, bg);
-      nvgRect(vg, 0, 0, fb_w, fb_h);
-      nvgFill(vg);
-
-      glEnable(GL_BLEND);
-      glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-
-      ui_draw();
-
-      glDisable(GL_BLEND);
-
-      fb->swap();
-
-      assert(glGetError() == GL_NO_ERROR);
-
-      // no simple way to do 30fps vsync with surfaceflinger...
-      util::sleep_for(30);
-    }
-
-    if (update_thread_handle.joinable()) {
-      update_thread_handle.join();
-    }
-
-    // reboot
-    system("service call power 16 i32 0 i32 0 i32 1");
-  }
-
-};
-
-}
-
-int main(int argc, char *argv[]) {
-  bool background_cache = false;
-  if (argc > 1) {
-    if (strcmp(argv[1], "local") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_LOCAL;
-    } else if (strcmp(argv[1], "staging") == 0) {
-      manifest_url = MANIFEST_URL_NEOS_STAGING;
-    } else if (strcmp(argv[1], "bgcache") == 0) {
-      manifest_url = argv[2];
-      background_cache = true;
-    } else {
-      manifest_url = argv[1];
-    }
-  }
-
-  printf("updating from %s\n", manifest_url);
-  Updater updater;
-
-  int err = 0;
-  if (background_cache) {
-    err = !updater.download_stage();
-  } else {
-    updater.go();
-  }
-  return err;
-}
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -16,6 +16,15 @@ fi
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"

 function two_init {
+  if [ ! -f "/system/fonts/NotoSansTC-Regular.otf" ] || [ -L "/system/fonts/NotoSansTC-Regular.otf" ]; then
+    mount -o remount,rw /system
+    find /system/fonts/NotoSans*.otf -type l -delete
+    cp -frv /usr/share/fonts/NotoSans* /system/fonts/
+    cp -fr /data/openpilot/selfdrive/dragonpilot/fonts.xml /system/etc/fonts.xml
+    chmod 644 /system/etc/fonts.xml
+    chmod 644 /system/fonts/NotoSans*
+    mount -o remount,r /system
+  fi

  # Wifi scan
  wpa_cli IFNAME=wlan0 SCAN
@@ -117,6 +126,11 @@ function two_init {
 }

 function tici_init {
+  # wait longer for weston to come up
+  if [ -f "$BASEDIR/prebuilt" ]; then
+    sleep 3
+  fi
+
  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
  nmcli connection modify --temporary lte gsm.auto-config yes
@@ -127,11 +141,12 @@ function tici_init {

  # Check if AGNOS update is required
  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
+    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
-    $DIR/selfdrive/hardware/tici/agnos.py --swap $MANIFEST
-
-    sleep 1
-    sudo reboot
+    if $AGNOS_PY --verify $MANIFEST; then
+      sudo reboot
+    fi
+    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
  fi
 }

--- a/launch_env.sh
+++ b/launch_env.sh
@@ -11,7 +11,7 @@ if [ -z "$REQUIRED_NEOS_VERSION" ]; then
 fi

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="0.21"
+  export AGNOS_VERSION="1.2"
 fi

 if [ -z "$PASSIVE" ]; then
--- a/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_hybrid_pt_generated.dbc
@@ -350,6 +350,14 @@ BO_ 1163 RSA3: 8 FCM
 SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
 SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX

+BO_ 956 GEAR_PACKET2: 8 XXX
+ SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX
+ SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX
+
 CM_ SG_ 36 ACCEL_Y "unit is tbd";
 CM_ SG_ 36 YAW_RATE "verify";
 CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
@@ -396,15 +404,17 @@ VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
 VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
 VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
 VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 956 SPORT_ON 0 "off" 1 "on";
+VAL_ 956 ECON_ON 0 "off" 1 "on";
 VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
 VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
 VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
 VAL_ 1553 UNITS 1 "km" 2 "miles";
 VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
-VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN1 36 "speed sign mph" 1 "speed sign kph" 0 "none";
 VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
-VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 6 "snow" 5 "rain" 4 "wet road" 5 "rain" 3 "left" 2 "right" 1 "time" 0 "none";
 VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
 VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";

--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -442,6 +442,7 @@ BO_ 956 GEAR_PACKET: 8 XXX
 SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
 SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ SPORT_ON_2 : 55|1@0+ (1,0) [0|1] "" XXX

 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
@@ -451,3 +452,4 @@ VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "stand
 VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
 VAL_ 956 SPORT_ON 0 "off" 1 "on";
 VAL_ 956 ECON_ON 0 "off" 1 "on";
+VAL_ 956 SPORT_ON_2 0 "off" 1 "on";
--- a/panda/board/SConscript
+++ b/panda/board/SConscript
@@ -37,7 +37,7 @@ else:
    "-DPANDA",
  ]

-  if FindFile('dp_vw', '/data/params/d') != None:
+  if FindFile('dp_vw_panda', '/data/params/d') != None:
    with open('/data/params/d/dp_vw_panda') as f:
      if (int(f.read().strip())) == 1:
        PROJECT_FLAGS += ['-Dvw']
--- a/panda/board/power_saving.h
+++ b/panda/board/power_saving.h
@@ -32,7 +32,7 @@ void set_power_save_state(int state) {
    // Volkswagen community port:
    // If this is a White or Grey Panda, always keep the CAN transceivers
    // powered up so that transparent forwarding is maintained.
-    current_board->enable_can_transceivers(board_has_obd() ? enable : true);
+    current_board->enable_can_transceivers(current_board->has_obd ? enable : true);
    #else
    current_board->enable_can_transceivers(enable);
    #endif
--- a/panda/board/safety/safety_defaults.h
+++ b/panda/board/safety/safety_defaults.h
@@ -32,7 +32,7 @@ static int default_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
  // Don't do this for BP/C2, where we have Advanced Actual Relay Technology.
  int bus_fwd = -1;

-  if(!board_has_relay()) {
+  if(hw_type == HW_TYPE_WHITE_PANDA || hw_type == HW_TYPE_GREY_PANDA) {
    switch (bus_num) {
      case 0:
        bus_fwd = 2;
--- a/phonelibs/mapbox-gl-native-qt/include/QMapbox
+++ b/phonelibs/mapbox-gl-native-qt/include/QMapbox
@@ -0,0 +1 @@
+#include "qmapbox.hpp"
--- a/phonelibs/mapbox-gl-native-qt/include/QMapboxGL
+++ b/phonelibs/mapbox-gl-native-qt/include/QMapboxGL
@@ -0,0 +1 @@
+#include "qmapboxgl.hpp"
--- a/phonelibs/mapbox-gl-native-qt/include/qmapbox.hpp
+++ b/phonelibs/mapbox-gl-native-qt/include/qmapbox.hpp
@@ -0,0 +1,147 @@
+#ifndef QMAPBOX_H
+#define QMAPBOX_H
+
+#include <QColor>
+#include <QPair>
+#include <QString>
+#include <QVariant>
+#include <QVector>
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+#if !defined(QT_MAPBOXGL_STATIC)
+#  if defined(QT_BUILD_MAPBOXGL_LIB)
+#    define Q_MAPBOXGL_EXPORT Q_DECL_EXPORT
+#  else
+#    define Q_MAPBOXGL_EXPORT Q_DECL_IMPORT
+#  endif
+#else
+#  define Q_MAPBOXGL_EXPORT
+#endif
+
+namespace QMapbox {
+
+typedef QPair<double, double> Coordinate;
+typedef QPair<Coordinate, double> CoordinateZoom;
+typedef QPair<double, double> ProjectedMeters;
+
+typedef QVector<Coordinate> Coordinates;
+typedef QVector<Coordinates> CoordinatesCollection;
+
+typedef QVector<CoordinatesCollection> CoordinatesCollections;
+
+struct Q_MAPBOXGL_EXPORT Feature {
+    enum Type {
+        PointType = 1,
+        LineStringType,
+        PolygonType
+    };
+
+    /*! Class constructor. */
+    Feature(Type type_ = PointType, const CoordinatesCollections& geometry_ = CoordinatesCollections(),
+            const QVariantMap& properties_ = QVariantMap(), const QVariant& id_ = QVariant())
+        : type(type_), geometry(geometry_), properties(properties_), id(id_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+    QVariantMap properties;
+    QVariant id;
+};
+
+struct Q_MAPBOXGL_EXPORT ShapeAnnotationGeometry {
+    enum Type {
+        LineStringType = 1,
+        PolygonType,
+        MultiLineStringType,
+        MultiPolygonType
+    };
+
+    /*! Class constructor. */
+    ShapeAnnotationGeometry(Type type_ = LineStringType, const CoordinatesCollections& geometry_ = CoordinatesCollections())
+        : type(type_), geometry(geometry_) {}
+
+    Type type;
+    CoordinatesCollections geometry;
+};
+
+struct Q_MAPBOXGL_EXPORT SymbolAnnotation {
+    Coordinate geometry;
+    QString icon;
+};
+
+struct Q_MAPBOXGL_EXPORT LineAnnotation {
+    /*! Class constructor. */
+    LineAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            float width_ = 1.0f, const QColor& color_ = Qt::black)
+        : geometry(geometry_), opacity(opacity_), width(width_), color(color_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    float width;
+    QColor color;
+};
+
+struct Q_MAPBOXGL_EXPORT FillAnnotation {
+    /*! Class constructor. */
+    FillAnnotation(const ShapeAnnotationGeometry& geometry_ = ShapeAnnotationGeometry(), float opacity_ = 1.0f,
+            const QColor& color_ = Qt::black, const QVariant& outlineColor_ = QVariant())
+        : geometry(geometry_), opacity(opacity_), color(color_), outlineColor(outlineColor_) {}
+
+    ShapeAnnotationGeometry geometry;
+    float opacity;
+    QColor color;
+    QVariant outlineColor;
+};
+
+typedef QVariant Annotation;
+typedef quint32 AnnotationID;
+typedef QVector<AnnotationID> AnnotationIDs;
+
+enum NetworkMode {
+    Online, // Default
+    Offline,
+};
+
+Q_MAPBOXGL_EXPORT QVector<QPair<QString, QString> >& defaultStyles();
+
+Q_MAPBOXGL_EXPORT NetworkMode networkMode();
+Q_MAPBOXGL_EXPORT void setNetworkMode(NetworkMode);
+
+// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters.
+struct Q_MAPBOXGL_EXPORT CustomLayerRenderParameters {
+    double width;
+    double height;
+    double latitude;
+    double longitude;
+    double zoom;
+    double bearing;
+    double pitch;
+    double fieldOfView;
+};
+
+class Q_MAPBOXGL_EXPORT CustomLayerHostInterface {
+public:
+    virtual ~CustomLayerHostInterface() = default;
+    virtual void initialize() = 0;
+    virtual void render(const CustomLayerRenderParameters&) = 0;
+    virtual void deinitialize() = 0;
+};
+
+Q_MAPBOXGL_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom);
+Q_MAPBOXGL_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &);
+Q_MAPBOXGL_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &);
+
+} // namespace QMapbox
+
+Q_DECLARE_METATYPE(QMapbox::Coordinate);
+Q_DECLARE_METATYPE(QMapbox::Coordinates);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollection);
+Q_DECLARE_METATYPE(QMapbox::CoordinatesCollections);
+Q_DECLARE_METATYPE(QMapbox::Feature);
+
+Q_DECLARE_METATYPE(QMapbox::SymbolAnnotation);
+Q_DECLARE_METATYPE(QMapbox::ShapeAnnotationGeometry);
+Q_DECLARE_METATYPE(QMapbox::LineAnnotation);
+Q_DECLARE_METATYPE(QMapbox::FillAnnotation);
+
+#endif // QMAPBOX_H
--- a/phonelibs/mapbox-gl-native-qt/include/qmapboxgl.hpp
+++ b/phonelibs/mapbox-gl-native-qt/include/qmapboxgl.hpp
@@ -0,0 +1,277 @@
+#ifndef QMAPBOXGL_H
+#define QMAPBOXGL_H
+
+#include <QImage>
+#include <QMapbox>
+#include <QMargins>
+#include <QObject>
+#include <QPointF>
+#include <QSize>
+#include <QString>
+#include <QStringList>
+
+#include <functional>
+
+class QMapboxGLPrivate;
+
+// This header follows the Qt coding style: https://wiki.qt.io/Qt_Coding_Style
+
+class Q_MAPBOXGL_EXPORT QMapboxGLSettings
+{
+public:
+    QMapboxGLSettings();
+
+    enum GLContextMode {
+        UniqueGLContext = 0,
+        SharedGLContext
+    };
+
+    enum MapMode {
+        Continuous = 0,
+        Static
+    };
+
+    enum ConstrainMode {
+        NoConstrain = 0,
+        ConstrainHeightOnly,
+        ConstrainWidthAndHeight
+    };
+
+    enum ViewportMode {
+        DefaultViewport = 0,
+        FlippedYViewport
+    };
+
+    GLContextMode contextMode() const;
+    void setContextMode(GLContextMode);
+
+    MapMode mapMode() const;
+    void setMapMode(MapMode);
+
+    ConstrainMode constrainMode() const;
+    void setConstrainMode(ConstrainMode);
+
+    ViewportMode viewportMode() const;
+    void setViewportMode(ViewportMode);
+
+    unsigned cacheDatabaseMaximumSize() const;
+    void setCacheDatabaseMaximumSize(unsigned);
+
+    QString cacheDatabasePath() const;
+    void setCacheDatabasePath(const QString &);
+
+    QString assetPath() const;
+    void setAssetPath(const QString &);
+
+    QString accessToken() const;
+    void setAccessToken(const QString &);
+
+    QString apiBaseUrl() const;
+    void setApiBaseUrl(const QString &);
+
+    QString localFontFamily() const;
+    void setLocalFontFamily(const QString &);
+
+    std::function<std::string(const std::string &)> resourceTransform() const;
+    void setResourceTransform(const std::function<std::string(const std::string &)> &);
+
+private:
+    GLContextMode m_contextMode;
+    MapMode m_mapMode;
+    ConstrainMode m_constrainMode;
+    ViewportMode m_viewportMode;
+
+    unsigned m_cacheMaximumSize;
+    QString m_cacheDatabasePath;
+    QString m_assetPath;
+    QString m_accessToken;
+    QString m_apiBaseUrl;
+    QString m_localFontFamily;
+    std::function<std::string(const std::string &)> m_resourceTransform;
+};
+
+struct Q_MAPBOXGL_EXPORT QMapboxGLCameraOptions {
+    QVariant center;  // Coordinate
+    QVariant anchor;  // QPointF
+    QVariant zoom;    // double
+    QVariant bearing; // double
+    QVariant pitch;   // double
+};
+
+class Q_MAPBOXGL_EXPORT QMapboxGL : public QObject
+{
+    Q_OBJECT
+    Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
+    Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
+    Q_PROPERTY(double zoom READ zoom WRITE setZoom)
+    Q_PROPERTY(double bearing READ bearing WRITE setBearing)
+    Q_PROPERTY(double pitch READ pitch WRITE setPitch)
+    Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson)
+    Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl)
+    Q_PROPERTY(double scale READ scale WRITE setScale)
+    Q_PROPERTY(QMapbox::Coordinate coordinate READ coordinate WRITE setCoordinate)
+    Q_PROPERTY(QMargins margins READ margins WRITE setMargins)
+
+public:
+    enum MapChange {
+        MapChangeRegionWillChange = 0,
+        MapChangeRegionWillChangeAnimated,
+        MapChangeRegionIsChanging,
+        MapChangeRegionDidChange,
+        MapChangeRegionDidChangeAnimated,
+        MapChangeWillStartLoadingMap,
+        MapChangeDidFinishLoadingMap,
+        MapChangeDidFailLoadingMap,
+        MapChangeWillStartRenderingFrame,
+        MapChangeDidFinishRenderingFrame,
+        MapChangeDidFinishRenderingFrameFullyRendered,
+        MapChangeWillStartRenderingMap,
+        MapChangeDidFinishRenderingMap,
+        MapChangeDidFinishRenderingMapFullyRendered,
+        MapChangeDidFinishLoadingStyle,
+        MapChangeSourceDidChange
+    };
+
+    enum MapLoadingFailure {
+        StyleParseFailure,
+        StyleLoadFailure,
+        NotFoundFailure,
+        UnknownFailure
+    };
+
+    // Determines the orientation of the map.
+    enum NorthOrientation {
+        NorthUpwards, // Default
+        NorthRightwards,
+        NorthDownwards,
+        NorthLeftwards,
+    };
+
+    QMapboxGL(QObject* parent = 0,
+              const QMapboxGLSettings& = QMapboxGLSettings(),
+              const QSize& size = QSize(),
+              qreal pixelRatio = 1);
+    virtual ~QMapboxGL();
+
+    QString styleJson() const;
+    QString styleUrl() const;
+
+    void setStyleJson(const QString &);
+    void setStyleUrl(const QString &);
+
+    double latitude() const;
+    void setLatitude(double latitude);
+
+    double longitude() const;
+    void setLongitude(double longitude);
+
+    double scale() const;
+    void setScale(double scale, const QPointF &center = QPointF());
+
+    double zoom() const;
+    void setZoom(double zoom);
+
+    double minimumZoom() const;
+    double maximumZoom() const;
+
+    double bearing() const;
+    void setBearing(double degrees);
+    void setBearing(double degrees, const QPointF &center);
+
+    double pitch() const;
+    void setPitch(double pitch);
+    void pitchBy(double pitch);
+
+    NorthOrientation northOrientation() const;
+    void setNorthOrientation(NorthOrientation);
+
+    QMapbox::Coordinate coordinate() const;
+    void setCoordinate(const QMapbox::Coordinate &);
+    void setCoordinateZoom(const QMapbox::Coordinate &, double zoom);
+
+    void jumpTo(const QMapboxGLCameraOptions&);
+
+    void setGestureInProgress(bool inProgress);
+
+    void setTransitionOptions(qint64 duration, qint64 delay = 0);
+
+    void addAnnotationIcon(const QString &name, const QImage &sprite);
+
+    QMapbox::AnnotationID addAnnotation(const QMapbox::Annotation &);
+    void updateAnnotation(QMapbox::AnnotationID, const QMapbox::Annotation &);
+    void removeAnnotation(QMapbox::AnnotationID);
+
+    bool setLayoutProperty(const QString &layer, const QString &property, const QVariant &value);
+    bool setPaintProperty(const QString &layer, const QString &property, const QVariant &value);
+
+    bool isFullyLoaded() const;
+
+    void moveBy(const QPointF &offset);
+    void scaleBy(double scale, const QPointF &center = QPointF());
+    void rotateBy(const QPointF &first, const QPointF &second);
+
+    void resize(const QSize &size);
+
+    double metersPerPixelAtLatitude(double latitude, double zoom) const;
+    QMapbox::ProjectedMeters projectedMetersForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForProjectedMeters(const QMapbox::ProjectedMeters &) const;
+    QPointF pixelForCoordinate(const QMapbox::Coordinate &) const;
+    QMapbox::Coordinate coordinateForPixel(const QPointF &) const;
+
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne) const;
+    QMapbox::CoordinateZoom coordinateZoomForBounds(const QMapbox::Coordinate &sw, QMapbox::Coordinate &ne, double bearing, double pitch);
+
+    void setMargins(const QMargins &margins);
+    QMargins margins() const;
+
+    void addSource(const QString &sourceID, const QVariantMap& params);
+    bool sourceExists(const QString &sourceID);
+    void updateSource(const QString &sourceID, const QVariantMap& params);
+    void removeSource(const QString &sourceID);
+
+    void addImage(const QString &name, const QImage &sprite);
+    void removeImage(const QString &name);
+
+    void addCustomLayer(const QString &id,
+        QScopedPointer<QMapbox::CustomLayerHostInterface>& host,
+        const QString& before = QString());
+    void addLayer(const QVariantMap &params, const QString& before = QString());
+    bool layerExists(const QString &id);
+    void removeLayer(const QString &id);
+
+    QVector<QString> layerIds() const;
+
+    void setFilter(const QString &layer, const QVariant &filter);
+    QVariant getFilter(const QString &layer) const;
+    // When rendering on a different thread,
+    // should be called on the render thread.
+    void createRenderer();
+    void destroyRenderer();
+    void setFramebufferObject(quint32 fbo, const QSize &size);
+
+public slots:
+    void render();
+    void connectionEstablished();
+
+    // Commit changes, load all the resources
+    // and renders the map when completed.
+    void startStaticRender();
+
+signals:
+    void needsRendering();
+    void mapChanged(QMapboxGL::MapChange);
+    void mapLoadingFailed(QMapboxGL::MapLoadingFailure, const QString &reason);
+    void copyrightsChanged(const QString &copyrightsHtml);
+
+    void staticRenderFinished(const QString &error);
+
+private:
+    Q_DISABLE_COPY(QMapboxGL)
+
+    QMapboxGLPrivate *d_ptr;
+};
+
+Q_DECLARE_METATYPE(QMapboxGL::MapChange);
+Q_DECLARE_METATYPE(QMapboxGL::MapLoadingFailure);
+
+#endif // QMAPBOXGL_H
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -0,0 +1,70 @@
+#!/usr/bin/bash -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+TARGET_DIR=/data/openpilot
+SOURCE_DIR="$(git rev-parse --show-toplevel)"
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up repo T=$SECONDS"
+if [ ! -d "$TARGET_DIR" ]; then
+  mkdir -p $TARGET_DIR
+  cd $TARGET_DIR
+  git init
+  git remote add origin git@github.com:commaai/openpilot.git
+fi
+
+echo "[-] bringing master-ci and devel in sync T=$SECONDS"
+cd $TARGET_DIR
+git prune || true
+git remote prune origin || true
+git fetch origin master-ci
+git fetch origin devel
+
+git checkout -f --track origin/master-ci
+git reset --hard master-ci
+git checkout master-ci
+git reset --hard origin/devel
+git clean -xdf
+
+# remove everything except .git
+echo "[-] erasing old openpilot T=$SECONDS"
+find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
+
+# reset source tree
+cd $SOURCE_DIR
+git clean -xdf
+
+# do the files copy
+echo "[-] copying files T=$SECONDS"
+cd $SOURCE_DIR
+cp -pR --parents $(cat release/files_common) $TARGET_DIR/
+cp -pR --parents $(cat release/files_tici) $TARGET_DIR/
+if [ ! -z "$EXTRA_FILES" ]; then
+  cp -pR --parents $EXTRA_FILES $TARGET_DIR/
+fi
+
+# append source commit hash and build date to version
+GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse --short HEAD)
+DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
+VERSION=$(cat selfdrive/common/version.h | awk -F\" '{print $2}')
+echo "#define COMMA_VERSION \"$VERSION-$GIT_HASH-$DATETIME\"" > selfdrive/common/version.h
+
+# in the directory
+cd $TARGET_DIR
+rm -f panda/board/obj/panda.bin.signed
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git status
+git commit -a -m "openpilot v$VERSION release"
+
+if [ ! -z "$PUSH" ]; then
+  echo "[-] Pushing to $PUSH T=$SECONDS"
+  git remote set-url origin git@github.com:commaai/openpilot.git
+  git push -f origin master-ci:$PUSH
+fi
+
+echo "[-] done T=$SECONDS"
--- a/release/build_release2.sh
+++ b/release/build_release2.sh
@@ -1,10 +1,10 @@
 #!/usr/bin/env bash
 set -e

-export GIT_COMMITTER_NAME="rav4kumar"
-export GIT_COMMITTER_EMAIL=" 36933347+rav4kumar@users.noreply.github.com"
-export GIT_AUTHOR_NAME="rav4kumar"
-export GIT_AUTHOR_EMAIL=" 36933347+rav4kumar@users.noreply.github.com"
+export GIT_COMMITTER_NAME="Vehicle Researcher"
+export GIT_COMMITTER_EMAIL="user@comma.ai"
+export GIT_AUTHOR_NAME="Vehicle Researcher"
+export GIT_AUTHOR_EMAIL="user@comma.ai"

 export GIT_SSH_COMMAND="ssh -i /data/gitkey"

@@ -17,7 +17,7 @@ if [ ! -z "$CLEAN" ]; then

  # Create git repo
  git init
-  git remote add origin git@github.com:rav4kumar/dp-devel.git
+  git remote add origin git@github.com:commaai/openpilot.git
  git fetch origin devel-staging
 else
  cd /data/openpilot
@@ -26,6 +26,7 @@ else
 fi

 git fetch origin release2-staging
+git fetch origin dashcam-staging

 # Create release2 with no history
 if [ ! -z "$CLEAN" ]; then
@@ -40,16 +41,20 @@ echo "#define COMMA_VERSION \"$VERSION-release\"" > selfdrive/common/version.h
 git commit -m "openpilot v$VERSION"

 # Build signed panda firmware
-#pushd panda/
-#CERT=/data/openpilot/panda/certs/debug RELEASE=0 scons -u .
-#mv board/obj/panda.bin.signed /tmp/panda.bin.signed
-#popd
+pushd panda/
+CERT=/tmp/pandaextra/certs/release RELEASE=1 scons -u .
+mv board/obj/panda.bin.signed /tmp/panda.bin.signed
+popd

 # Build stuff
 ln -sfn /data/openpilot /data/pythonpath
 export PYTHONPATH="/data/openpilot:/data/openpilot/pyextra"
 scons -j3

+# Run tests
+python selfdrive/manager/test/test_manager.py
+selfdrive/car/tests/test_car_interfaces.py
+
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then
  echo "submodules found:"
@@ -64,14 +69,13 @@ find . -name '*.o' -delete
 find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name '__pycache__' -delete
-find selfdrive/ui -name '*.h' -delete
 rm -rf panda/board panda/certs panda/crypto
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm models/supercombo.dlc

 # Move back signed panda fw
-#mkdir -p panda/board/obj
-#mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
+mkdir -p panda/board/obj
+mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed

 # Restore phonelibs
 git checkout phonelibs/
@@ -86,7 +90,15 @@ git commit --amend -m "openpilot v$VERSION"
 # Print committed files that are normally gitignored
 #git status --ignored

-#git remote set-url origin git@github.com:rav4kumar/dp-devel.git
+if [ ! -z "$PUSH" ]; then
+  git remote set-url origin git@github.com:commaai/openpilot.git

-# Push to release2-staging
-#git push -f origin release2-staging
+  # Push to release2-staging
+  git push -f origin release2-staging
+
+  # Create dashcam release
+  git rm selfdrive/car/*/carcontroller.py
+
+  git commit -m "create dashcam release from release2"
+  git push -f origin release2-staging:dashcam-staging
+fi
--- a/release/build_release3.sh
+++ b/release/build_release3.sh
@@ -0,0 +1,91 @@
+#!/usr/bin/bash -e
+
+# git diff --name-status origin/release3-staging | grep "^A" | less
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+
+cd $DIR
+
+BUILD_DIR=/data/openpilot
+SOURCE_DIR="$(git rev-parse --show-toplevel)"
+
+BRANCH=release3-staging
+
+# set git identity
+source $DIR/identity.sh
+
+echo "[-] Setting up repo T=$SECONDS"
+rm -rf $BUILD_DIR
+mkdir -p $BUILD_DIR
+cd $BUILD_DIR
+git init
+git remote add origin git@github.com:commaai/openpilot.git
+git checkout -f -B $BRANCH
+
+# do the files copy
+echo "[-] copying files T=$SECONDS"
+cd $SOURCE_DIR
+cp -pR --parents $(cat release/files_common) $BUILD_DIR/
+cp -pR --parents $(cat release/files_tici) $BUILD_DIR/
+
+# in the directory
+cd $BUILD_DIR
+
+rm -f panda/board/obj/panda.bin.signed
+
+VERSION=$(cat selfdrive/common/version.h | awk -F[\"-]  '{print $2}')
+echo "#define COMMA_VERSION \"$VERSION-release\"" > selfdrive/common/version.h
+
+echo "[-] committing version $VERSION T=$SECONDS"
+git add -f .
+git commit -a -m "openpilot v$VERSION release"
+
+# Build panda firmware
+pushd panda/
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
+mv board/obj/panda.bin.signed /tmp/panda.bin.signed
+popd
+
+# Build
+export PYTHONPATH="$BUILD_DIR"
+scons -j$(nproc)
+
+# Run tests
+#python selfdrive/manager/test/test_manager.py
+selfdrive/car/tests/test_car_interfaces.py
+
+# Cleanup
+find . -name '*.a' -delete
+find . -name '*.o' -delete
+find . -name '*.os' -delete
+find . -name '*.pyc' -delete
+find . -name '__pycache__' -delete
+rm -rf panda/board panda/certs panda/crypto
+rm -rf .sconsign.dblite Jenkinsfile release/
+
+# Move back signed panda fw
+mkdir -p panda/board/obj
+mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
+
+# Restore phonelibs
+git checkout phonelibs/
+
+# Mark as prebuilt release
+touch prebuilt
+
+# Add built files to git
+git add -f .
+git commit --amend -m "openpilot v$VERSION"
+
+if [ ! -z "$PUSH" ]; then
+  echo "[-] pushing T=$SECONDS"
+  git remote set-url origin git@github.com:commaai/openpilot.git
+  git push -f origin $BRANCH
+
+  # Create dashcam
+  git rm selfdrive/car/*/carcontroller.py
+  git commit -m "create dashcam release from release"
+  git push -f origin $BRANCH:dashcam3-staging
+fi
+
+echo "[-] done T=$SECONDS"
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+while read hash submodule ref; do
+  git -C $submodule fetch --depth 100 origin master
+  git -C $submodule branch -r --contains $hash | grep "origin/master"
+  if [ "$?" -eq 0 ]; then
+    echo "$submodule ok"
+  else
+    echo "$submodule: $hash is not on master"
+    exit 1
+  fi
+done <<< $(git submodule status --recursive)
--- a/release/files_common
+++ b/release/files_common
@@ -0,0 +1,622 @@
+.gitignore
+LICENSE
+launch_env.sh
+launch_chffrplus.sh
+launch_openpilot.sh
+
+Jenkinsfile
+SConstruct
+
+CONTRIBUTING.md
+README.md
+RELEASES.md
+SAFETY.md
+site_scons/site_tools/cython.py
+
+common/.gitignore
+common/__init__.py
+common/gpio.py
+common/realtime.py
+common/clock.pyx
+common/timeout.py
+common/ffi_wrapper.py
+common/file_helpers.py
+common/logging_extra.py
+common/numpy_fast.py
+common/params.py
+common/params_pxd.pxd
+common/params_pyx.pyx
+common/xattr.py
+common/profiler.py
+common/basedir.py
+common/dict_helpers.py
+common/filter_simple.py
+common/stat_live.py
+common/spinner.py
+common/text_window.py
+common/cython_hacks.py
+common/SConscript
+
+common/kalman/.gitignore
+common/kalman/*
+
+common/transformations/__init__.py
+common/transformations/camera.py
+common/transformations/model.py
+
+common/transformations/SConscript
+common/transformations/coordinates.py
+common/transformations/coordinates.cc
+common/transformations/coordinates.hpp
+common/transformations/orientation.py
+common/transformations/orientation.cc
+common/transformations/orientation.hpp
+common/transformations/transformations.pxd
+common/transformations/transformations.pyx
+
+common/api/__init__.py
+
+models/supercombo.dlc
+models/dmonitoring_model_q.dlc
+
+release/*
+
+selfdrive/version.py
+
+selfdrive/__init__.py
+selfdrive/config.py
+selfdrive/crash.py
+selfdrive/swaglog.py
+selfdrive/logmessaged.py
+selfdrive/tombstoned.py
+selfdrive/pandad.py
+selfdrive/updated.py
+selfdrive/rtshield.py
+
+selfdrive/athena/__init__.py
+selfdrive/athena/athenad.py
+selfdrive/athena/manage_athenad.py
+selfdrive/athena/registration.py
+
+selfdrive/boardd/.gitignore
+selfdrive/boardd/SConscript
+selfdrive/boardd/__init__.py
+selfdrive/boardd/boardd.cc
+selfdrive/boardd/boardd.py
+selfdrive/boardd/boardd_api_impl.pyx
+selfdrive/boardd/can_list_to_can_capnp.cc
+selfdrive/boardd/panda.cc
+selfdrive/boardd/panda.h
+selfdrive/boardd/pigeon.cc
+selfdrive/boardd/pigeon.h
+selfdrive/boardd/set_time.py
+
+selfdrive/car/__init__.py
+selfdrive/car/car_helpers.py
+selfdrive/car/fingerprints.py
+selfdrive/car/interfaces.py
+selfdrive/car/vin.py
+selfdrive/car/fw_versions.py
+selfdrive/car/isotp_parallel_query.py
+selfdrive/car/tests/__init__.py
+selfdrive/car/tests/test_car_interfaces.py
+selfdrive/car/chrysler/__init__.py
+selfdrive/car/chrysler/carstate.py
+selfdrive/car/chrysler/interface.py
+selfdrive/car/chrysler/radar_interface.py
+selfdrive/car/chrysler/values.py
+selfdrive/car/chrysler/carcontroller.py
+selfdrive/car/chrysler/chryslercan.py
+selfdrive/car/honda/__init__.py
+selfdrive/car/honda/carstate.py
+selfdrive/car/honda/interface.py
+selfdrive/car/honda/radar_interface.py
+selfdrive/car/honda/values.py
+selfdrive/car/honda/carcontroller.py
+selfdrive/car/honda/hondacan.py
+selfdrive/car/hyundai/__init__.py
+selfdrive/car/hyundai/carstate.py
+selfdrive/car/hyundai/interface.py
+selfdrive/car/hyundai/radar_interface.py
+selfdrive/car/hyundai/values.py
+selfdrive/car/hyundai/carcontroller.py
+selfdrive/car/hyundai/hyundaican.py
+selfdrive/car/toyota/__init__.py
+selfdrive/car/toyota/carstate.py
+selfdrive/car/toyota/interface.py
+selfdrive/car/toyota/radar_interface.py
+selfdrive/car/toyota/values.py
+selfdrive/car/toyota/carcontroller.py
+selfdrive/car/toyota/toyotacan.py
+selfdrive/car/nissan/__init__.py
+selfdrive/car/nissan/carcontroller.py
+selfdrive/car/nissan/carstate.py
+selfdrive/car/nissan/interface.py
+selfdrive/car/nissan/nissancan.py
+selfdrive/car/nissan/radar_interface.py
+selfdrive/car/nissan/values.py
+selfdrive/car/volkswagen/__init__.py
+selfdrive/car/volkswagen/carstate.py
+selfdrive/car/volkswagen/interface.py
+selfdrive/car/volkswagen/radar_interface.py
+selfdrive/car/volkswagen/values.py
+selfdrive/car/volkswagen/carcontroller.py
+selfdrive/car/volkswagen/volkswagencan.py
+selfdrive/car/gm/__init__.py
+selfdrive/car/gm/carstate.py
+selfdrive/car/gm/interface.py
+selfdrive/car/gm/radar_interface.py
+selfdrive/car/gm/values.py
+selfdrive/car/gm/carcontroller.py
+selfdrive/car/gm/gmcan.py
+selfdrive/car/ford/__init__.py
+selfdrive/car/ford/carstate.py
+selfdrive/car/ford/interface.py
+selfdrive/car/ford/radar_interface.py
+selfdrive/car/ford/values.py
+selfdrive/car/ford/carcontroller.py
+selfdrive/car/ford/fordcan.py
+selfdrive/car/subaru/__init__.py
+selfdrive/car/subaru/carstate.py
+selfdrive/car/subaru/interface.py
+selfdrive/car/subaru/radar_interface.py
+selfdrive/car/subaru/values.py
+selfdrive/car/subaru/carcontroller.py
+selfdrive/car/subaru/subarucan.py
+selfdrive/car/mazda/__init__.py
+selfdrive/car/mazda/carstate.py
+selfdrive/car/mazda/interface.py
+selfdrive/car/mazda/radar_interface.py
+selfdrive/car/mazda/values.py
+selfdrive/car/mazda/carcontroller.py
+selfdrive/car/mazda/mazdacan.py
+selfdrive/car/tesla/__init__.py
+selfdrive/car/tesla/teslacan.py
+selfdrive/car/tesla/carcontroller.py
+selfdrive/car/tesla/radar_interface.py
+selfdrive/car/tesla/values.py
+selfdrive/car/tesla/carstate.py
+selfdrive/car/tesla/interface.py
+selfdrive/car/mock/*.py
+
+selfdrive/clocksd/.gitignore
+selfdrive/clocksd/SConscript
+selfdrive/clocksd/clocksd.cc
+
+selfdrive/debug/*.py
+
+selfdrive/common/SConscript
+selfdrive/common/version.h
+
+selfdrive/common/framebuffer.h
+selfdrive/common/framebuffer.cc
+selfdrive/common/glutil.cc
+selfdrive/common/glutil.h
+selfdrive/common/touch.[c,h]
+selfdrive/common/swaglog.h
+selfdrive/common/swaglog.cc
+selfdrive/common/util.cc
+selfdrive/common/util.h
+selfdrive/common/queue.h
+selfdrive/common/clutil.cc
+selfdrive/common/clutil.h
+selfdrive/common/params.h
+selfdrive/common/params.cc
+selfdrive/common/watchdog.cc
+selfdrive/common/watchdog.h
+
+selfdrive/common/modeldata.h
+selfdrive/common/mat.h
+selfdrive/common/timing.h
+
+selfdrive/common/visionimg.cc
+selfdrive/common/visionimg.h
+
+selfdrive/common/gpio.cc
+selfdrive/common/gpio.h
+selfdrive/common/i2c.cc
+selfdrive/common/i2c.h
+
+
+selfdrive/controls/__init__.py
+selfdrive/controls/controlsd.py
+selfdrive/controls/plannerd.py
+selfdrive/controls/radard.py
+selfdrive/controls/lib/__init__.py
+selfdrive/controls/lib/alertmanager.py
+selfdrive/controls/lib/alerts_offroad.json
+selfdrive/controls/lib/events.py
+selfdrive/controls/lib/drive_helpers.py
+selfdrive/controls/lib/latcontrol_pid.py
+selfdrive/controls/lib/latcontrol_indi.py
+selfdrive/controls/lib/latcontrol_lqr.py
+selfdrive/controls/lib/latcontrol_angle.py
+selfdrive/controls/lib/longcontrol.py
+selfdrive/controls/lib/lateral_planner.py
+selfdrive/controls/lib/lane_planner.py
+selfdrive/controls/lib/pid.py
+selfdrive/controls/lib/longitudinal_planner.py
+selfdrive/controls/lib/radar_helpers.py
+selfdrive/controls/lib/vehicle_model.py
+selfdrive/controls/lib/fcw.py
+selfdrive/controls/lib/long_mpc.py
+selfdrive/controls/lib/lead_mpc.py
+
+selfdrive/controls/lib/cluster/*
+
+selfdrive/controls/lib/lateral_mpc/lib_mpc_export/*
+selfdrive/controls/lib/lateral_mpc/.gitignore
+selfdrive/controls/lib/lateral_mpc/SConscript
+selfdrive/controls/lib/lateral_mpc/__init__.py
+selfdrive/controls/lib/lateral_mpc/generator.cpp
+selfdrive/controls/lib/lateral_mpc/libmpc_py.py
+selfdrive/controls/lib/lateral_mpc/lateral_mpc.c
+
+selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/*
+selfdrive/controls/lib/lead_mpc_lib/.gitignore
+selfdrive/controls/lib/lead_mpc_lib/SConscript
+selfdrive/controls/lib/lead_mpc_lib/__init__.py
+selfdrive/controls/lib/lead_mpc_lib/generator.cpp
+selfdrive/controls/lib/lead_mpc_lib/libmpc_py.py
+selfdrive/controls/lib/lead_mpc_lib/longitudinal_mpc.c
+
+selfdrive/controls/lib/longitudinal_mpc_lib/lib_mpc_export/*
+selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
+selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+selfdrive/controls/lib/longitudinal_mpc_lib/__init__.py
+selfdrive/controls/lib/longitudinal_mpc_lib/generator.cpp
+selfdrive/controls/lib/longitudinal_mpc_lib/libmpc_py.py
+selfdrive/controls/lib/longitudinal_mpc_lib/longitudinal_mpc.c
+
+selfdrive/hardware/__init__.py
+selfdrive/hardware/base.h
+selfdrive/hardware/base.py
+selfdrive/hardware/hw.h
+selfdrive/hardware/eon/__init__.py
+selfdrive/hardware/eon/hardware.h
+selfdrive/hardware/eon/hardware.py
+selfdrive/hardware/tici/__init__.py
+selfdrive/hardware/tici/hardware.py
+selfdrive/hardware/tici/amplifier.py
+selfdrive/hardware/tici/iwlist.py
+selfdrive/hardware/pc/__init__.py
+selfdrive/hardware/pc/hardware.py
+
+selfdrive/locationd/__init__.py
+selfdrive/locationd/.gitignore
+selfdrive/locationd/SConscript
+selfdrive/locationd/ubloxd.cc
+selfdrive/locationd/ublox_msg.cc
+selfdrive/locationd/ublox_msg.h
+selfdrive/locationd/generated/ubx.cpp
+selfdrive/locationd/generated/ubx.h
+selfdrive/locationd/generated/gps.cpp
+selfdrive/locationd/generated/gps.h
+
+selfdrive/locationd/locationd.h
+selfdrive/locationd/locationd.cc
+selfdrive/locationd/paramsd.py
+selfdrive/locationd/models/.gitignore
+selfdrive/locationd/models/live_kf.py
+selfdrive/locationd/models/car_kf.py
+selfdrive/locationd/models/constants.py
+selfdrive/locationd/models/live_kf.h
+selfdrive/locationd/models/live_kf.cc
+
+selfdrive/locationd/calibrationd.py
+
+selfdrive/logcatd/SConscript
+selfdrive/logcatd/logcatd_android.cc
+selfdrive/logcatd/logcatd_systemd.cc
+
+selfdrive/proclogd/SConscript
+selfdrive/proclogd/proclogd.cc
+
+selfdrive/loggerd/SConscript
+selfdrive/loggerd/encoder.h
+selfdrive/loggerd/omx_encoder.cc
+selfdrive/loggerd/omx_encoder.h
+selfdrive/loggerd/logger.cc
+selfdrive/loggerd/logger.h
+selfdrive/loggerd/loggerd.cc
+selfdrive/loggerd/bootlog.cc
+selfdrive/loggerd/raw_logger.cc
+selfdrive/loggerd/raw_logger.h
+selfdrive/loggerd/include/msm_media_info.h
+
+selfdrive/loggerd/__init__.py
+selfdrive/loggerd/config.py
+selfdrive/loggerd/uploader.py
+selfdrive/loggerd/deleter.py
+selfdrive/loggerd/xattr_cache.py
+
+selfdrive/sensord/SConscript
+selfdrive/sensord/libdiag.h
+selfdrive/sensord/sensors_qcom.cc
+selfdrive/sensord/sensors_qcom2.cc
+selfdrive/sensord/sensors/*.cc
+selfdrive/sensord/sensors/*.h
+selfdrive/sensord/sensord
+
+selfdrive/thermald/thermald.py
+selfdrive/thermald/power_monitoring.py
+
+selfdrive/test/__init__.py
+selfdrive/test/helpers.py
+selfdrive/test/setup_device_ci.sh
+selfdrive/test/test_fingerprints.py
+selfdrive/test/test_onroad.py
+
+selfdrive/ui/.gitignore
+selfdrive/ui/SConscript
+selfdrive/ui/*.cc
+selfdrive/ui/*.h
+selfdrive/ui/ui
+selfdrive/ui/text
+selfdrive/ui/spinner
+selfdrive/ui/soundd
+
+selfdrive/ui/qt/*.cc
+selfdrive/ui/qt/*.h
+selfdrive/ui/qt/offroad/*.cc
+selfdrive/ui/qt/offroad/*.h
+selfdrive/ui/qt/offroad/*.qml
+selfdrive/ui/qt/widgets/*.cc
+selfdrive/ui/qt/widgets/*.h
+selfdrive/ui/qt/spinner_aarch64
+selfdrive/ui/qt/text_aarch64
+
+selfdrive/camerad/SConscript
+selfdrive/camerad/main.cc
+
+selfdrive/camerad/snapshot/*
+selfdrive/camerad/include/*
+selfdrive/camerad/cameras/camera_common.h
+selfdrive/camerad/cameras/camera_common.cc
+selfdrive/camerad/cameras/camera_frame_stream.cc
+selfdrive/camerad/cameras/camera_frame_stream.h
+selfdrive/camerad/cameras/camera_qcom.cc
+selfdrive/camerad/cameras/camera_qcom.h
+selfdrive/camerad/cameras/debayer.cl
+selfdrive/camerad/cameras/sensor_i2c.h
+selfdrive/camerad/cameras/sensor2_i2c.h
+
+selfdrive/camerad/transforms/rgb_to_yuv.cc
+selfdrive/camerad/transforms/rgb_to_yuv.h
+selfdrive/camerad/transforms/rgb_to_yuv.cl
+selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+
+selfdrive/camerad/imgproc/conv.cl
+selfdrive/camerad/imgproc/pool.cl
+selfdrive/camerad/imgproc/utils.cc
+selfdrive/camerad/imgproc/utils.h
+
+selfdrive/manager/__init__.py
+selfdrive/manager/build.py
+selfdrive/manager/helpers.py
+selfdrive/manager/manager.py
+selfdrive/manager/process_config.py
+selfdrive/manager/process.py
+selfdrive/manager/test/__init__.py
+selfdrive/manager/test/test_manager.py
+
+selfdrive/modeld/SConscript
+selfdrive/modeld/modeld.cc
+selfdrive/modeld/dmonitoringmodeld.cc
+selfdrive/modeld/constants.py
+selfdrive/modeld/modeld
+selfdrive/modeld/dmonitoringmodeld
+
+selfdrive/modeld/models/commonmodel.cc
+selfdrive/modeld/models/commonmodel.h
+selfdrive/modeld/models/driving.cc
+selfdrive/modeld/models/driving.h
+selfdrive/modeld/models/dmonitoring.cc
+selfdrive/modeld/models/dmonitoring.h
+
+selfdrive/modeld/transforms/loadyuv.cc
+selfdrive/modeld/transforms/loadyuv.h
+selfdrive/modeld/transforms/loadyuv.cl
+selfdrive/modeld/transforms/transform.cc
+selfdrive/modeld/transforms/transform.h
+selfdrive/modeld/transforms/transform.cl
+
+selfdrive/modeld/thneed/thneed.*
+selfdrive/modeld/thneed/serialize.cc
+selfdrive/modeld/thneed/compile.cc
+selfdrive/modeld/thneed/include/*
+
+selfdrive/modeld/runners/snpemodel.cc
+selfdrive/modeld/runners/snpemodel.h
+selfdrive/modeld/runners/thneedmodel.cc
+selfdrive/modeld/runners/thneedmodel.h
+selfdrive/modeld/runners/runmodel.h
+selfdrive/modeld/runners/run.h
+
+selfdrive/monitoring/dmonitoringd.py
+selfdrive/monitoring/driver_monitor.py
+
+selfdrive/assets/.gitignore
+selfdrive/assets/assets.qrc
+selfdrive/assets/*.png
+selfdrive/assets/*.svg
+selfdrive/assets/fonts/*.ttf
+selfdrive/assets/images/*
+selfdrive/assets/offroad/*
+selfdrive/assets/sounds/*
+selfdrive/assets/training/*
+
+phonelibs/SConscript
+
+phonelibs/nanovg/*.c
+phonelibs/nanovg/*.h
+
+phonelibs/libgralloc/**
+phonelibs/linux/**
+phonelibs/opencl/**
+phonelibs/zlib/*
+phonelibs/bzip2/*
+phonelibs/openmax/**
+
+phonelibs/json11/json11.cpp
+phonelibs/json11/json11.hpp
+
+phonelibs/qpoases/**
+
+phonelibs/qrcode/*.cc
+phonelibs/qrcode/*.hpp
+
+phonelibs/kaitai/*.h
+phonelibs/kaitai/*.cpp
+
+phonelibs/libyuv/include/**
+phonelibs/libyuv/lib/**
+phonelibs/libyuv/larch64/**
+
+phonelibs/snpe/include/**
+phonelibs/snpe/aarch64**
+phonelibs/snpe/larch64**
+phonelibs/snpe/dsp**
+
+phonelibs/android_frameworks_native/**
+phonelibs/android_hardware_libhardware/**
+phonelibs/android_system_core/**
+
+installer/updater/updater
+installer/updater/updater.cc
+installer/updater/update.json
+installer/updater/Makefile
+
+scripts/update_now.sh
+scripts/stop_updater.sh
+
+pyextra/.gitignore
+
+rednose/**
+
+cereal/.gitignore
+cereal/__init__.py
+cereal/car.capnp
+cereal/legacy.capnp
+cereal/log.capnp
+cereal/services.py
+cereal/SConscript
+cereal/include/**
+cereal/messaging/.gitignore
+cereal/messaging/__init__.py
+cereal/messaging/bridge.cc
+cereal/messaging/impl_msgq.cc
+cereal/messaging/impl_msgq.h
+cereal/messaging/impl_zmq.cc
+cereal/messaging/impl_zmq.h
+cereal/messaging/messaging.cc
+cereal/messaging/messaging.h
+cereal/messaging/messaging.pxd
+cereal/messaging/messaging_pyx.pyx
+cereal/messaging/msgq.cc
+cereal/messaging/msgq.h
+cereal/messaging/socketmaster.cc
+cereal/visionipc/.gitignore
+cereal/visionipc/__init__.py
+cereal/visionipc/*.cc
+cereal/visionipc/*.h
+cereal/visionipc/*.pyx
+cereal/visionipc/*.pxd
+
+panda/.gitignore
+panda/__init__.py
+panda/VERSION
+panda/board/**
+panda/certs/**
+panda/crypto/**
+panda/examples/query_fw_versions.py
+panda/python/**
+
+opendbc/.gitignore
+opendbc/__init__.py
+opendbc/can/__init__.py
+opendbc/can/SConscript
+opendbc/can/can_define.py
+opendbc/can/common.cc
+opendbc/can/common.h
+opendbc/can/common.pxd
+opendbc/can/common_dbc.h
+opendbc/can/dbc.cc
+opendbc/can/dbc.py
+opendbc/can/dbc_template.cc
+opendbc/can/packer.cc
+opendbc/can/packer.py
+opendbc/can/packer_pyx.pyx
+opendbc/can/parser.cc
+opendbc/can/parser.py
+opendbc/can/parser_pyx.pyx
+opendbc/can/process_dbc.py
+opendbc/can/dbc_out/.gitkeep
+opendbc/can/dbc_out/.gitignore
+
+opendbc/chrysler_pacifica_2017_hybrid.dbc
+opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
+
+opendbc/gm_global_a_powertrain.dbc
+opendbc/gm_global_a_object.dbc
+opendbc/gm_global_a_chassis.dbc
+
+opendbc/ford_fusion_2018_pt.dbc
+opendbc/ford_fusion_2018_adas.dbc
+
+opendbc/honda_accord_2018_can_generated.dbc
+opendbc/acura_ilx_2016_can_generated.dbc
+opendbc/acura_rdx_2018_can_generated.dbc
+opendbc/acura_rdx_2020_can_generated.dbc
+opendbc/honda_civic_touring_2016_can_generated.dbc
+opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc
+opendbc/honda_civic_sedan_16_diesel_2019_can_generated.dbc
+opendbc/honda_crv_touring_2016_can_generated.dbc
+opendbc/honda_crv_ex_2017_can_generated.dbc
+opendbc/honda_crv_ex_2017_body_generated.dbc
+opendbc/honda_crv_executive_2016_can_generated.dbc
+opendbc/honda_crv_hybrid_2019_can_generated.dbc
+opendbc/honda_fit_ex_2018_can_generated.dbc
+opendbc/honda_hrv_touring_2019_can_generated.dbc
+opendbc/honda_odyssey_exl_2018_generated.dbc
+opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc
+opendbc/honda_pilot_touring_2017_can_generated.dbc
+opendbc/honda_ridgeline_black_edition_2017_can_generated.dbc
+opendbc/honda_insight_ex_2019_can_generated.dbc
+opendbc/acura_ilx_2016_nidec.dbc
+
+opendbc/hyundai_kia_generic.dbc
+
+opendbc/mazda_2017.dbc
+
+opendbc/nissan_x_trail_2017.dbc
+opendbc/nissan_leaf_2018.dbc
+
+opendbc/subaru_global_2017_generated.dbc
+opendbc/subaru_outback_2015_generated.dbc
+opendbc/subaru_outback_2019_generated.dbc
+opendbc/subaru_forester_2017_generated.dbc
+
+opendbc/toyota_rav4_hybrid_2017_pt_generated.dbc
+opendbc/toyota_rav4_2017_pt_generated.dbc
+opendbc/toyota_prius_2017_pt_generated.dbc
+opendbc/toyota_corolla_2017_pt_generated.dbc
+opendbc/lexus_rx_350_2016_pt_generated.dbc
+opendbc/lexus_rx_hybrid_2017_pt_generated.dbc
+opendbc/toyota_nodsu_pt_generated.dbc
+opendbc/toyota_nodsu_hybrid_pt_generated.dbc
+opendbc/toyota_camry_hybrid_2018_pt_generated.dbc
+opendbc/toyota_highlander_2017_pt_generated.dbc
+opendbc/toyota_highlander_hybrid_2018_pt_generated.dbc
+opendbc/toyota_avalon_2017_pt_generated.dbc
+opendbc/toyota_sienna_xle_2018_pt_generated.dbc
+opendbc/lexus_is_2018_pt_generated.dbc
+opendbc/lexus_ct200h_2018_pt_generated.dbc
+opendbc/lexus_nx300h_2018_pt_generated.dbc
+opendbc/lexus_nx300_2018_pt_generated.dbc
+opendbc/toyota_adas.dbc
+opendbc/toyota_tss2_adas.dbc
+
+opendbc/vw_mqb_2010.dbc
+
+opendbc/tesla_can.dbc
--- a/release/files_pc
+++ b/release/files_pc
@@ -0,0 +1,3 @@
+phonelibs/mapbox-gl-native-qt/x86_64/**
+
+phonelibs/qt-plugins/x86_64/**
--- a/release/files_tici
+++ b/release/files_tici
@@ -0,0 +1,27 @@
+installer/continue_openpilot.sh
+
+phonelibs/mapbox-gl-native-qt/include/*
+
+selfdrive/timezoned.py
+
+selfdrive/assets/navigation/*
+selfdrive/assets/training_wide/*
+selfdrive/assets/sounds_tici/*
+
+selfdrive/camerad/cameras/camera_qcom2.cc
+selfdrive/camerad/cameras/camera_qcom2.h
+selfdrive/camerad/cameras/real_debayer.cl
+
+selfdrive/hardware/tici/__init__.py
+selfdrive/hardware/tici/hardware.h
+selfdrive/hardware/tici/hardware.py
+selfdrive/hardware/tici/pins.py
+selfdrive/hardware/tici/agnos.py
+selfdrive/hardware/tici/agnos.json
+selfdrive/hardware/tici/amplifier.py
+selfdrive/hardware/tici/updater
+
+selfdrive/ui/qt/spinner_larch64
+selfdrive/ui/qt/text_larch64
+selfdrive/ui/qt/maps/*.cc
+selfdrive/ui/qt/maps/*.h
--- a/release/identity.sh
+++ b/release/identity.sh
@@ -0,0 +1,5 @@
+export GIT_COMMITTER_NAME="Vehicle Researcher"
+export GIT_COMMITTER_EMAIL="user@comma.ai"
+export GIT_AUTHOR_NAME="Vehicle Researcher"
+export GIT_AUTHOR_EMAIL="user@comma.ai"
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
--- a/scripts/jetson_start.sh
+++ b/scripts/jetson_start.sh
@@ -2,7 +2,6 @@

 sudo echo 5000 > /sys/devices/c250000.i2c/i2c-7/7-0040/iio:device0/crit_current_limit_0
 sudo nvpmodel -m 2 && sudo jetson_clocks
-export PASSIVE=0
-export NOSENSOR=1
-export USE_MIPI=1
-cd ../selfdrive/manager && ./manager.py
+# available freq: 1651200 1728000 1804800 1881600 1907200
+for i in /sys/devices/system/cpu/cpu*/cpufreq/scaling_max_freq; do echo 1907200 > $i; done
+cd /home/openpilot/openpilot/selfdrive/manager && PASSIVE=0 NOSENSOR=1 USE_MIPI=1 ./manager.py
--- a/scripts/reset_usb.py
+++ b/scripts/reset_usb.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+import os
+import sys
+from subprocess import Popen, PIPE
+import fcntl
+
+def create_usb_list():
+    device_list = list()
+    try:
+        lsusb_out = Popen('lsusb -v', shell=True, bufsize=64, stdin=PIPE, stdout=PIPE, close_fds=True).stdout.read().strip().decode('utf-8')
+        usb_devices = lsusb_out.split('%s%s' % (os.linesep, os.linesep))
+        for device_categories in usb_devices:
+            if not device_categories:
+                continue
+            categories = device_categories.split(os.linesep)
+            device_stuff = categories[0].strip().split()
+            bus = device_stuff[1]
+            device = device_stuff[3][:-1]
+            device_dict = {'bus': bus, 'device': device}
+            device_info = ' '.join(device_stuff[6:])
+            device_dict['description'] = device_info
+            for category in categories:
+                if not category:
+                    continue
+                categoryinfo = category.strip().split()
+                if categoryinfo[0] == 'iManufacturer':
+                    manufacturer_info = ' '.join(categoryinfo[2:])
+                    device_dict['manufacturer'] = manufacturer_info
+                if categoryinfo[0] == 'iProduct':
+                    device_info = ' '.join(categoryinfo[2:])
+                    device_dict['device'] = device_info
+            path = '/dev/bus/usb/%s/%s' % (bus, device)
+            device_dict['path'] = path
+
+            device_list.append(device_dict)
+    except Exception as ex:
+        print('Failed to list usb devices! Error: %s' % ex)
+        sys.exit(-1)
+    return device_list
+
+
+def kill_usb(dev_path):
+    USBDEVFS_RESET = 21780
+    try:
+        f = open(dev_path, 'w', os.O_WRONLY)
+        fcntl.ioctl(f, USBDEVFS_RESET, 0)
+        print('Successfully reset %s' % dev_path)
+        sys.exit(0)
+    except Exception as ex:
+        print('Failed to reset device! Error: %s' % ex)
+        sys.exit(-1)
+
+if __name__ == "__main__":
+    usb_list = create_usb_list()
+    for device in usb_list:
+        if device['manufacturer'] == 'comma.ai':
+            kill_usb(device['path'])
+    sys.exit(0)
--- a/selfdrive/assets/.gitignore
+++ b/selfdrive/assets/.gitignore
@@ -0,0 +1 @@
+*.cc
--- a/selfdrive/assets/assets.qrc
+++ b/selfdrive/assets/assets.qrc
@@ -0,0 +1,15 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource>
+  <file>img_continue_triangle.svg</file>
+  <file>img_circled_check.svg</file>
+  <file>img_circled_slash.svg</file>
+  <file>img_eye_open.svg</file>
+  <file>img_eye_closed.svg</file>
+  <file>offroad/icon_lock_closed.svg</file>
+  <file>offroad/icon_checkmark.svg</file>
+  <file>offroad/icon_wifi_strength_low.svg</file>
+  <file>offroad/icon_wifi_strength_medium.svg</file>
+  <file>offroad/icon_wifi_strength_high.svg</file>
+  <file>offroad/icon_wifi_strength_full.svg</file>
+</qresource>
+</RCC>
--- a/selfdrive/assets/img_circled_check.svg
+++ b/selfdrive/assets/img_circled_check.svg
@@ -0,0 +1,4 @@
+<svg width="104" height="104" viewBox="0 0 104 104" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M76.3 36L43.8 67.7L28 51.9" stroke="white" stroke-width="7" stroke-miterlimit="10" stroke-linecap="round" stroke-linejoin="round"/>
+<path d="M52 101.5C79.3381 101.5 101.5 79.3381 101.5 52C101.5 24.6619 79.3381 2.5 52 2.5C24.6619 2.5 2.5 24.6619 2.5 52C2.5 79.3381 24.6619 101.5 52 101.5Z" stroke="white" stroke-width="5"/>
+</svg>
--- a/selfdrive/assets/img_circled_slash.svg
+++ b/selfdrive/assets/img_circled_slash.svg
@@ -0,0 +1,4 @@
+<svg width="104" height="104" viewBox="0 0 104 104" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M52 98C77.4051 98 98 77.4051 98 52C98 26.5949 77.4051 6 52 6C26.5949 6 6 26.5949 6 52C6 77.4051 26.5949 98 52 98Z" stroke="#696969" stroke-width="12"/>
+<path d="M19 85L85 19" stroke="#696969" stroke-width="12"/>
+</svg>
--- a/selfdrive/assets/img_continue_triangle.svg
+++ b/selfdrive/assets/img_continue_triangle.svg
@@ -0,0 +1,3 @@
+<svg width="54" height="106" viewBox="0 0 54 106" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M4.01946 4.01488L47.249 54.0666L6.1184 102.141" stroke="white" stroke-width="10"/>
+</svg>
--- a/selfdrive/assets/img_eye_closed.svg
+++ b/selfdrive/assets/img_eye_closed.svg
@@ -0,0 +1,5 @@
+<svg width="81" height="54" viewBox="0 0 81 54" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path fill-rule="evenodd" clip-rule="evenodd" d="M56.4845 7.63065C51.7905 6.01921 46.5684 5 40.8516 5C23.3024 5 10.5368 14.4989 3.27501 21.356C-0.113807 24.5209 -0.113807 29.4791 3.27501 32.644C5.49715 34.7423 8.23466 37.088 11.4669 39.3332L16.0284 36.1208C11.8215 33.3047 8.50721 30.4206 6.47928 28.5297C5.63207 27.6857 5.63207 26.5253 6.47928 25.6813C11.6835 20.7231 25.4809 9.32967 40.8516 9.32967C44.5542 9.32967 48.1656 9.99692 51.5875 11.0793L56.4845 7.63065ZM70.3373 14.7537L65.6283 18.0699C69.8565 20.9236 73.194 23.8528 75.2239 25.7868C75.9501 26.5253 75.9501 27.5802 75.2239 28.3187C70.0197 33.2769 56.3434 44.7758 40.8516 44.7758C37.1452 44.7758 33.5427 44.1237 30.1353 43.0649L25.3547 46.4316C30.0041 48.0071 35.1778 49 40.8516 49C58.4009 49 71.2875 39.5011 78.5492 32.433C81.817 29.2681 81.817 24.5209 78.5492 21.4615C76.3287 19.3647 73.5822 17.0111 70.3373 14.7537Z" fill="#BDBDBD"/>
+<path fill-rule="evenodd" clip-rule="evenodd" d="M46.1473 14.9103C44.5479 14.113 42.757 13.6667 40.8663 13.6667C34.0916 13.6667 28.5996 19.3974 28.5996 26.4667C28.5996 26.7303 28.6073 26.9922 28.6223 27.2519L46.1473 14.9103ZM36.6377 38.4858C37.9559 38.9909 39.3802 39.2667 40.8663 39.2667C47.5104 39.2667 52.9208 33.7546 53.1269 26.8737L36.6377 38.4858Z" fill="#BDBDBD"/>
+<line x1="73.2745" y1="4.18015" x2="7.18015" y2="50.7255" stroke="#BDBDBD" stroke-width="6" stroke-linecap="round"/>
+</svg>
--- a/selfdrive/assets/img_eye_open.svg
+++ b/selfdrive/assets/img_eye_open.svg
@@ -0,0 +1,4 @@
+<svg width="81" height="44" viewBox="0 0 81 44" fill="none" xmlns="http://www.w3.org/2000/svg">
+<ellipse cx="40.8663" cy="21.4667" rx="12.2667" ry="12.8" fill="#BDBDBD"/>
+<path d="M40.8516 44C23.3024 44 10.5368 34.5011 3.27501 27.644C-0.113807 24.4791 -0.113807 19.5209 3.27501 16.356C10.5368 9.4989 23.3024 0 40.8516 0C58.4009 0 71.2875 9.6044 78.5492 16.4615C81.817 19.5209 81.817 24.2681 78.5492 27.433C71.2875 34.5011 58.4009 44 40.8516 44ZM6.47928 20.6813C5.63207 21.5253 5.63207 22.6857 6.47928 23.5297C11.6835 28.3824 25.3598 39.7758 40.8516 39.7758C56.3434 39.7758 70.0197 28.2769 75.2239 23.3187C75.9501 22.5802 75.9501 21.5253 75.2239 20.7868C70.0197 15.8286 56.2223 4.32967 40.8516 4.32967C25.4809 4.32967 11.6835 15.7231 6.47928 20.6813Z" fill="#BDBDBD"/>
+</svg>
--- a/selfdrive/assets/navigation/direction_arrive.png
+++ b/selfdrive/assets/navigation/direction_arrive.png
--- a/selfdrive/assets/navigation/direction_arrive_left.png
+++ b/selfdrive/assets/navigation/direction_arrive_left.png
--- a/selfdrive/assets/navigation/direction_arrive_right.png
+++ b/selfdrive/assets/navigation/direction_arrive_right.png
--- a/selfdrive/assets/navigation/direction_arrive_straight.png
+++ b/selfdrive/assets/navigation/direction_arrive_straight.png
--- a/selfdrive/assets/navigation/direction_close.png
+++ b/selfdrive/assets/navigation/direction_close.png
--- a/selfdrive/assets/navigation/direction_continue.png
+++ b/selfdrive/assets/navigation/direction_continue.png
--- a/selfdrive/assets/navigation/direction_continue_left.png
+++ b/selfdrive/assets/navigation/direction_continue_left.png
--- a/selfdrive/assets/navigation/direction_continue_right.png
+++ b/selfdrive/assets/navigation/direction_continue_right.png
--- a/selfdrive/assets/navigation/direction_continue_slight_left.png
+++ b/selfdrive/assets/navigation/direction_continue_slight_left.png
--- a/selfdrive/assets/navigation/direction_continue_slight_right.png
+++ b/selfdrive/assets/navigation/direction_continue_slight_right.png
--- a/selfdrive/assets/navigation/direction_continue_straight.png
+++ b/selfdrive/assets/navigation/direction_continue_straight.png
--- a/selfdrive/assets/navigation/direction_continue_uturn.png
+++ b/selfdrive/assets/navigation/direction_continue_uturn.png
--- a/selfdrive/assets/navigation/direction_depart.png
+++ b/selfdrive/assets/navigation/direction_depart.png
--- a/selfdrive/assets/navigation/direction_depart_left.png
+++ b/selfdrive/assets/navigation/direction_depart_left.png
--- a/selfdrive/assets/navigation/direction_depart_right.png
+++ b/selfdrive/assets/navigation/direction_depart_right.png
--- a/selfdrive/assets/navigation/direction_depart_straight.png
+++ b/selfdrive/assets/navigation/direction_depart_straight.png
--- a/selfdrive/assets/navigation/direction_end_of_road_left.png
+++ b/selfdrive/assets/navigation/direction_end_of_road_left.png
--- a/selfdrive/assets/navigation/direction_end_of_road_right.png
+++ b/selfdrive/assets/navigation/direction_end_of_road_right.png
--- a/selfdrive/assets/navigation/direction_flag.png
+++ b/selfdrive/assets/navigation/direction_flag.png
--- a/selfdrive/assets/navigation/direction_fork.png
+++ b/selfdrive/assets/navigation/direction_fork.png
--- a/selfdrive/assets/navigation/direction_fork_left.png
+++ b/selfdrive/assets/navigation/direction_fork_left.png
--- a/selfdrive/assets/navigation/direction_fork_right.png
+++ b/selfdrive/assets/navigation/direction_fork_right.png
--- a/selfdrive/assets/navigation/direction_fork_slight_left.png
+++ b/selfdrive/assets/navigation/direction_fork_slight_left.png
--- a/selfdrive/assets/navigation/direction_fork_slight_right.png
+++ b/selfdrive/assets/navigation/direction_fork_slight_right.png
--- a/selfdrive/assets/navigation/direction_fork_straight.png
+++ b/selfdrive/assets/navigation/direction_fork_straight.png
--- a/selfdrive/assets/navigation/direction_invalid.png
+++ b/selfdrive/assets/navigation/direction_invalid.png
--- a/selfdrive/assets/navigation/direction_invalid_left.png
+++ b/selfdrive/assets/navigation/direction_invalid_left.png
--- a/selfdrive/assets/navigation/direction_invalid_right.png
+++ b/selfdrive/assets/navigation/direction_invalid_right.png
--- a/selfdrive/assets/navigation/direction_invalid_slight_left.png
+++ b/selfdrive/assets/navigation/direction_invalid_slight_left.png
--- a/selfdrive/assets/navigation/direction_invalid_slight_right.png
+++ b/selfdrive/assets/navigation/direction_invalid_slight_right.png
--- a/selfdrive/assets/navigation/direction_invalid_straight.png
+++ b/selfdrive/assets/navigation/direction_invalid_straight.png
--- a/selfdrive/assets/navigation/direction_invalid_uturn.png
+++ b/selfdrive/assets/navigation/direction_invalid_uturn.png
--- a/selfdrive/assets/navigation/direction_merge_left.png
+++ b/selfdrive/assets/navigation/direction_merge_left.png
--- a/selfdrive/assets/navigation/direction_merge_right.png
+++ b/selfdrive/assets/navigation/direction_merge_right.png
--- a/selfdrive/assets/navigation/direction_merge_slight_left.png
+++ b/selfdrive/assets/navigation/direction_merge_slight_left.png
--- a/selfdrive/assets/navigation/direction_merge_slight_right.png
+++ b/selfdrive/assets/navigation/direction_merge_slight_right.png
--- a/selfdrive/assets/navigation/direction_merge_straight.png
+++ b/selfdrive/assets/navigation/direction_merge_straight.png
--- a/selfdrive/assets/navigation/direction_new_name_left.png
+++ b/selfdrive/assets/navigation/direction_new_name_left.png
--- a/selfdrive/assets/navigation/direction_new_name_right.png
+++ b/selfdrive/assets/navigation/direction_new_name_right.png
--- a/selfdrive/assets/navigation/direction_new_name_sharp_left.png
+++ b/selfdrive/assets/navigation/direction_new_name_sharp_left.png
--- a/selfdrive/assets/navigation/direction_new_name_sharp_right.png
+++ b/selfdrive/assets/navigation/direction_new_name_sharp_right.png
--- a/selfdrive/assets/navigation/direction_new_name_slight_left.png
+++ b/selfdrive/assets/navigation/direction_new_name_slight_left.png
--- a/selfdrive/assets/navigation/direction_new_name_slight_right.png
+++ b/selfdrive/assets/navigation/direction_new_name_slight_right.png
--- a/selfdrive/assets/navigation/direction_new_name_straight.png
+++ b/selfdrive/assets/navigation/direction_new_name_straight.png
--- a/selfdrive/assets/navigation/direction_notificaiton_right.png
+++ b/selfdrive/assets/navigation/direction_notificaiton_right.png
--- a/selfdrive/assets/navigation/direction_notificaiton_sharp_right.png
+++ b/selfdrive/assets/navigation/direction_notificaiton_sharp_right.png
--- a/selfdrive/assets/navigation/direction_notification_left.png
+++ b/selfdrive/assets/navigation/direction_notification_left.png
--- a/selfdrive/assets/navigation/direction_notification_sharp_left.png
+++ b/selfdrive/assets/navigation/direction_notification_sharp_left.png
--- a/selfdrive/assets/navigation/direction_notification_slight_left.png
+++ b/selfdrive/assets/navigation/direction_notification_slight_left.png
--- a/selfdrive/assets/navigation/direction_notification_slight_right.png
+++ b/selfdrive/assets/navigation/direction_notification_slight_right.png
--- a/selfdrive/assets/navigation/direction_notification_straight.png
+++ b/selfdrive/assets/navigation/direction_notification_straight.png
--- a/selfdrive/assets/navigation/direction_off_ramp_left.png
+++ b/selfdrive/assets/navigation/direction_off_ramp_left.png
--- a/selfdrive/assets/navigation/direction_off_ramp_right.png
+++ b/selfdrive/assets/navigation/direction_off_ramp_right.png
--- a/selfdrive/assets/navigation/direction_off_ramp_slight_left.png
+++ b/selfdrive/assets/navigation/direction_off_ramp_slight_left.png
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
eFini	39f2d349b5	clean up	2021-10-27 15:38:32 +08:00
eFini	c0a8416229	Merge pull request #99 from lirudy/0.8.7 fix： vw white panda with j533 acc error	2021-08-31 22:09:35 +10:00
Kumar	92883c53dc	Merge pull request #100 from stingshen/2018_chinese_camry_hybrid_fingerprint add 2018 chinese camry hybrid fingerprint	2021-08-30 23:46:13 -07:00
Yi	5b31463d9c	add 2018 chinese camry hybrid fingerprint	2021-08-30 16:52:33 +00:00
eFini	7489d32183	VW quick fix	2021-08-30 17:00:51 +08:00
Rick Lan	30e0313357	vw quick fix	2021-08-26 08:30:15 +08:00
lirudy	1afd68d485	Update safety_defaults.h fix vw j533 mode for w/g panda: relay stock signal on j533 bus , just ONLY for White / Grey Panda!!!	2021-08-25 23:33:40 +08:00
lirudy	c2d44cb333	Update power_saving.h	2021-08-25 23:03:11 +08:00
lirudy	9f1a209f4f	Update SConscript fix vw check file name	2021-08-25 23:02:04 +08:00
Rick Lan	f7433d9426	dragonpilot mod for 0.8.7-4	2021-08-25 08:51:47 +08:00
Adeeb Shihadeh	444aace15f	Hotfix: agnos 1.2 (#21856 ) * agnos 1.2 (#21847) * update nav ad (#21836) * the comma three	2021-08-04 11:22:14 -07:00
Vehicle Researcher	5face13bc5	openpilot v0.8.7 release	2021-08-02 20:27:11 -07:00