diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 0ad846f0..275bcbfb 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -197,6 +197,8 @@ class SubMaster:
       self.data[s] = getattr(data.as_reader(), s)
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
+    # FrogPilot variables
+
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
     return self.data[s]
 
@@ -248,6 +250,8 @@ class SubMaster:
   def all_checks(self, service_list: Optional[List[str]] = None) -> bool:
     return self.all_alive(service_list) and self.all_freq_ok(service_list) and self.all_valid(service_list)
 
+  # FrogPilot variables
+
 
 class PubMaster:
   def __init__(self, services: List[str]):
@@ -269,3 +273,5 @@ class PubMaster:
 
   def all_readers_updated(self, s: str) -> bool:
     return self.sock[s].all_readers_updated()  # type: ignore
+
+  # FrogPilot variables
diff --git a/cereal/services.py b/cereal/services.py
index e7350ace..ea99e8c5 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -102,6 +102,8 @@ _services: dict[str, tuple] = {
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
+
+  # FrogPilot variables
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
diff --git a/common/constants.py b/common/constants.py
index 7ca425c4..1653076b 100644
--- a/common/constants.py
+++ b/common/constants.py
@@ -19,5 +19,7 @@ class CV:
   # Mass
   LB_TO_KG = 0.453592
 
+  # FrogPilot variables
+
 
 ACCELERATION_DUE_TO_GRAVITY = 9.81  # m/s^2
diff --git a/common/params.cc b/common/params.cc
index 6af00fe9..7ce03158 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -94,6 +94,8 @@ private:
 Params::Params(const std::string &path) {
   params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
   params_path = ensure_params_path(params_prefix, path);
+
+  // FrogPilot variables
 }
 
 Params::~Params() {
@@ -169,6 +171,9 @@ int Params::put(const char* key, const char* value, size_t value_size) {
 int Params::remove(const std::string &key) {
   FileLock file_lock(params_path + "/.lock");
   int result = unlink(getParamPath(key).c_str());
+
+  // FrogPilot variables
+
   if (result != 0) {
     return result;
   }
@@ -215,6 +220,8 @@ void Params::clearAll(ParamKeyFlag key_flag) {
         auto it = keys.find(de->d_name);
         if (it == keys.end() || (it->second.flags & key_flag)) {
           unlink(getParamPath(de->d_name).c_str());
+
+          // FrogPilot variables
         }
       }
     }
@@ -240,3 +247,5 @@ void Params::asyncWriteThread() {
     put(p.first, p.second);
   }
 }
+
+// FrogPilot variables
diff --git a/common/params.h b/common/params.h
index 8169063a..d6b13030 100644
--- a/common/params.h
+++ b/common/params.h
@@ -35,6 +35,8 @@ struct ParamKeyAttributes {
   uint32_t flags;
   ParamKeyType type;
   std::optional<std::string> default_value = std::nullopt;
+
+  // FrogPilot variables
 };
 
 class Params {
@@ -78,6 +80,8 @@ public:
     putNonBlocking(key, val ? "1" : "0");
   }
 
+  // FrogPilot variables
+
 private:
   void asyncWriteThread();
 
@@ -87,4 +91,6 @@ private:
   // for nonblocking write
   std::future<void> future;
   SafeQueue<std::pair<std::string, std::string>> queue;
+
+  // FrogPilot variables
 };
diff --git a/common/params_keys.h b/common/params_keys.h
index b71f6298..e7979f51 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -131,4 +131,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"Version", {PERSISTENT, STRING}},
+
+    // FrogPilot variables
 };
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 93c550f2..5e562b2b 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -20,6 +20,8 @@ cdef extern from "common/params.h":
     CLEAR_ON_IGNITION_ON
     ALL
 
+    # FrogPilot variables
+
   cpdef enum ParamKeyType:
     STRING
     BOOL
@@ -45,6 +47,8 @@ cdef extern from "common/params.h":
     void clearAll(ParamKeyFlag)
     vector[string] allKeys()
 
+    # FrogPilot variables
+
 PYTHON_2_CPP = {
   (str, STRING): lambda v: v,
   (builtins.bool, BOOL): lambda v: "1" if v else "0",
@@ -75,12 +79,19 @@ cdef class Params:
   cdef c_Params* p
   cdef str d
 
+  # FrogPilot variables
+
   def __cinit__(self, d=""):
     cdef string path = <string>d.encode()
+
+    # FrogPilot variables
+
     with nogil:
       self.p = new c_Params(path)
     self.d = d
 
+    # FrogPilot variables
+
   def __reduce__(self):
     return (type(self), (self.d,))
 
@@ -194,3 +205,5 @@ cdef class Params:
     cdef string k = self.check_key(key)
     cdef ParamKeyType t = self.p.getKeyType(k)
     return self._cpp2python(t, value, None, key)
+
+  # FrogPilot variables
diff --git a/common/util.h b/common/util.h
index f46db4d9..7bccadb8 100644
--- a/common/util.h
+++ b/common/util.h
@@ -37,6 +37,8 @@ const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
 
+// FrogPilot variables
+
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 
 namespace util {
diff --git a/frogpilot/common/frogpilot_functions.py b/frogpilot/common/frogpilot_functions.py
new file mode 100644
index 00000000..e5fc603f
--- /dev/null
+++ b/frogpilot/common/frogpilot_functions.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+import threading
+import time
+
+from openpilot.common.time_helpers import system_time_valid
+from openpilot.system.hardware import HARDWARE
+
+
+def frogpilot_boot_functions():
+  def boot_thread():
+    while not system_time_valid():
+      print("Waiting for system time to become valid...")
+      time.sleep(1)
+
+  threading.Thread(target=boot_thread, daemon=True).start()
+
+
+def install_frogpilot():
+  paths = [
+  ]
+  for path in paths:
+    path.mkdir(parents=True, exist_ok=True)
+
+
+def uninstall_frogpilot():
+  HARDWARE.uninstall()
diff --git a/frogpilot/frogpilot_process.py b/frogpilot/frogpilot_process.py
new file mode 100644
index 00000000..240d2ef9
--- /dev/null
+++ b/frogpilot/frogpilot_process.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+import datetime
+import time
+
+from cereal import messaging
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL, Priority, Ratekeeper, config_realtime_process
+from openpilot.common.time_helpers import system_time_valid
+
+ASSET_CHECK_RATE = (1 / DT_MDL)
+
+def check_assets():
+
+def transition_offroad(time_validated, sm, params):
+
+def transition_onroad():
+
+def update_checks(now, params, boot_run=False):
+  while not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
+    time.sleep(60)
+
+  time.sleep(1)
+
+def frogpilot_thread():
+  rate_keeper = Ratekeeper(1 / DT_MDL, None)
+
+  config_realtime_process(5, Priority.CTRL_LOW)
+
+  sm = messaging.SubMaster(["carControl", "carState", "controlsState", "deviceState", "driverMonitoringState",
+                            "gpsLocation", "gpsLocationExternal", "liveParameters", "managerState", "modelV2",
+                            "onroadEvents", "pandaStates", "radarState", "selfdriveState"],
+                            poll="modelV2")
+
+  params = Params()
+
+  run_update_checks = False
+  started_previously = False
+  time_validated = False
+
+  while True:
+    sm.update()
+
+    now = datetime.datetime.now(datetime.timezone.utc)
+
+    started = sm["deviceState"].started
+
+    if not started and started_previously:
+      transition_offroad(time_validated, sm, params)
+
+      run_update_checks = True
+    elif started and not started_previously:
+      transition_onroad()
+
+    if started and sm.updated["modelV2"]:
+    elif not started:
+
+    started_previously = started
+
+    if rate_keeper.frame % ASSET_CHECK_RATE == 0:
+      check_assets()
+
+    run_update_checks |= now.second == 0 and (now.minute % 60 == 0)
+    run_update_checks &= time_validated
+
+    if run_update_checks:
+      thread_manager.run_with_lock(update_checks, (now, params))
+
+      run_update_checks = False
+    elif not time_validated:
+      time_validated = system_time_valid()
+      if not time_validated:
+        continue
+
+      thread_manager.run_with_lock(update_checks, (now, params, True))
+
+    rate_keeper.keep_time()
+
+def main():
+  frogpilot_thread()
+
+if __name__ == "__main__":
+  main()
diff --git a/frogpilot/system/environment_variables b/frogpilot/system/environment_variables
new file mode 100755
index 00000000..088ed20a
Binary files /dev/null and b/frogpilot/system/environment_variables differ
diff --git a/frogpilot/ui/frogpilot_ui.cc b/frogpilot/ui/frogpilot_ui.cc
new file mode 100644
index 00000000..4a075eb2
--- /dev/null
+++ b/frogpilot/ui/frogpilot_ui.cc
@@ -0,0 +1,35 @@
+#include "frogpilot/ui/frogpilot_ui.h"
+
+static void update_state(FrogPilotUIState *fs) {
+  FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
+
+  SubMaster &fpsm = *(fs->sm);
+  fpsm.update(0);
+
+  if (fpsm.updated("deviceState")) {
+    const cereal::DeviceState::Reader &deviceState = fpsm["deviceState"].getDeviceState();
+  }
+  if (fpsm.updated("selfdriveState")) {
+    const cereal::SelfdriveState::Reader &selfdriveState = fpsm["selfdriveState"].getSelfdriveState();
+    frogpilot_scene.enabled = selfdriveState.getEnabled();
+  }
+}
+
+FrogPilotUIState::FrogPilotUIState(QObject *parent) : QObject(parent) {
+  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
+    "carControl", "deviceState",
+    "liveDelay",
+    "liveParameters", "liveTorqueParameters", "liveTracks", "selfdriveState"
+  });
+
+  wifi = new WifiManager(this);
+}
+
+FrogPilotUIState *frogpilotUIState() {
+  static FrogPilotUIState frogpilot_ui_state;
+  return &frogpilot_ui_state;
+}
+
+void FrogPilotUIState::update() {
+  update_state(this);
+}
diff --git a/frogpilot/ui/frogpilot_ui.h b/frogpilot/ui/frogpilot_ui.h
new file mode 100644
index 00000000..a784f33d
--- /dev/null
+++ b/frogpilot/ui/frogpilot_ui.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/ui/qt/network/wifi_manager.h"
+
+#include "frogpilot/ui/qt/widgets/frogpilot_controls.h"
+
+struct FrogPilotUIScene {
+  bool enabled;
+  bool parked;
+  bool reverse;
+  bool standstill;
+
+  int started_timer;
+};
+
+class FrogPilotUIState : public QObject {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotUIState(QObject *parent = nullptr);
+
+  void update();
+
+  std::unique_ptr<SubMaster> sm;
+
+  FrogPilotUIScene frogpilot_scene;
+
+  Params params;
+
+  WifiManager *wifi;
+
+signals:
+};
+
+FrogPilotUIState *frogpilotUIState();
diff --git a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
new file mode 100644
index 00000000..344211a3
--- /dev/null
+++ b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc
@@ -0,0 +1,46 @@
+#include "frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h"
+
+FrogPilotAnnotatedCameraWidget::FrogPilotAnnotatedCameraWidget(QWidget *parent) : QWidget(parent) {
+  QSize iconSize(img_size / 4, img_size / 4);
+}
+
+void FrogPilotAnnotatedCameraWidget::showEvent(QShowEvent *event) {
+}
+
+void FrogPilotAnnotatedCameraWidget::updateState(const UIState &s, const FrogPilotUIState &fs) {
+  const UIScene &scene = s.scene;
+
+  const SubMaster &sm = *(s.sm);
+  const SubMaster &fpsm = *(fs.sm);
+
+  const cereal::CarState::Reader &carState = sm["carState"].getCarState();
+  const cereal::ModelDataV2::Reader &modelV2 = sm["modelV2"].getModelV2();
+  const cereal::SelfdriveState::Reader &selfdriveState = sm["selfdriveState"].getSelfdriveState();
+
+  if (scene.is_metric || frogpilot_toggles.value("use_si_metrics").toBool()) {
+    leadDistanceUnit = tr(" meters");
+    leadSpeedUnit = frogpilot_toggles.value("use_si_metrics").toBool() ? tr(" m/s") : tr(" km/h");
+    speedUnit = scene.is_metric ? tr("km/h") : tr("mph");
+
+    distanceConversion = 1.0f;
+    speedConversion = scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+    speedConversionMetrics = frogpilot_toggles.value("use_si_metrics").toBool() ? 1.0f : MS_TO_KPH;
+  } else {
+    leadDistanceUnit = tr(" feet");
+    leadSpeedUnit = tr(" mph");
+    speedUnit = tr("mph");
+
+    distanceConversion = METER_TO_FOOT;
+    speedConversion = MS_TO_MPH;
+    speedConversionMetrics = MS_TO_MPH;
+  }
+
+  hideBottomIcons = selfdriveState.getAlertSize() != cereal::SelfdriveState::AlertSize::NONE;
+}
+
+void FrogPilotAnnotatedCameraWidget::mousePressEvent(QMouseEvent *mouseEvent) {
+  mouseEvent->ignore();
+}
+
+void FrogPilotAnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p, UIState &s) {
+}
diff --git a/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
new file mode 100644
index 00000000..527b02cc
--- /dev/null
+++ b/frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/buttons.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+const int widget_size = img_size + (UI_BORDER_SIZE / 2);
+
+class FrogPilotAnnotatedCameraWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotAnnotatedCameraWidget(QWidget *parent = 0);
+
+  void mousePressEvent(QMouseEvent *mouseEvent) override;
+  void paintFrogPilotWidgets(QPainter &p, UIState &s);
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
+
+  bool hideBottomIcons;
+  bool isCruiseSet;
+  bool rightHandDM;
+
+  float speed;
+
+  FrogPilotUIScene frogpilot_scene;
+
+  QColor blueColor(int alpha = 255) { return QColor(0, 0, 255, alpha); }
+  QColor purpleColor(int alpha = 255) { return QColor(128, 0, 128, alpha); }
+  QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+
+  QPoint dmIconPosition;
+  QPoint experimentalButtonPosition;
+
+  QRect setSpeedRect;
+
+  QSize defaultSize;
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  float distanceConversion;
+  float setSpeed;
+  float speedConversion;
+  float speedConversionMetrics;
+
+  QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
+  QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
+
+  QString leadDistanceUnit;
+  QString leadSpeedUnit;
+  QString speedUnit;
+};
diff --git a/frogpilot/ui/qt/onroad/frogpilot_buttons.cc b/frogpilot/ui/qt/onroad/frogpilot_buttons.cc
new file mode 100644
index 00000000..dcf07008
--- /dev/null
+++ b/frogpilot/ui/qt/onroad/frogpilot_buttons.cc
@@ -0,0 +1 @@
+#include "frogpilot/ui/qt/onroad/frogpilot_buttons.h"
diff --git a/frogpilot/ui/qt/onroad/frogpilot_buttons.h b/frogpilot/ui/qt/onroad/frogpilot_buttons.h
new file mode 100644
index 00000000..d427996f
--- /dev/null
+++ b/frogpilot/ui/qt/onroad/frogpilot_buttons.h
@@ -0,0 +1,3 @@
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/buttons.h"
diff --git a/frogpilot/ui/qt/onroad/frogpilot_onroad.cc b/frogpilot/ui/qt/onroad/frogpilot_onroad.cc
new file mode 100644
index 00000000..e9e0ea85
--- /dev/null
+++ b/frogpilot/ui/qt/onroad/frogpilot_onroad.cc
@@ -0,0 +1,26 @@
+#include "frogpilot/ui/qt/onroad/frogpilot_onroad.h"
+
+FrogPilotOnroadWindow::FrogPilotOnroadWindow(QWidget *parent) : QWidget(parent) {
+}
+
+void FrogPilotOnroadWindow::resizeEvent(QResizeEvent *event) {
+  rect = QWidget::rect();
+  marginRegion = QRegion(rect) - QRegion(rect.marginsRemoved(QMargins(UI_BORDER_SIZE, UI_BORDER_SIZE, UI_BORDER_SIZE, UI_BORDER_SIZE)));
+}
+
+void FrogPilotOnroadWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
+  const SubMaster &sm = *(s.sm);
+  const SubMaster &fpsm = *(fs.sm);
+
+  const cereal::CarState::Reader &carState = sm["carState"].getCarState();
+  const cereal::CarControl::Reader &carControl = fpsm["carControl"].getCarControl();
+
+  update();
+}
+
+void FrogPilotOnroadWindow::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+
+  p.setClipRegion(marginRegion);
+  p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
+}
diff --git a/frogpilot/ui/qt/onroad/frogpilot_onroad.h b/frogpilot/ui/qt/onroad/frogpilot_onroad.h
new file mode 100644
index 00000000..49bb02c4
--- /dev/null
+++ b/frogpilot/ui/qt/onroad/frogpilot_onroad.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "selfdrive/ui/qt/onroad/annotated_camera.h"
+
+class FrogPilotOnroadWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  FrogPilotOnroadWindow(QWidget* parent = 0);
+
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
+
+  FrogPilotUIScene frogpilot_scene;
+
+  QColor bg;
+
+private:
+  void paintEvent(QPaintEvent *event);
+  void resizeEvent(QResizeEvent *event);
+
+  QRect rect;
+
+  QRegion marginRegion;
+};
diff --git a/frogpilot/ui/qt/widgets/frogpilot_controls.cc b/frogpilot/ui/qt/widgets/frogpilot_controls.cc
new file mode 100644
index 00000000..e35184bf
--- /dev/null
+++ b/frogpilot/ui/qt/widgets/frogpilot_controls.cc
@@ -0,0 +1,94 @@
+#include "selfdrive/ui/ui.h"
+
+#include "frogpilot/ui/frogpilot_ui.h"
+
+void clearMovie(QSharedPointer<QMovie> &movie, QWidget *parent) {
+  if (!movie) {
+    return;
+  }
+
+  QObject::disconnect(movie.data(), nullptr, parent, nullptr);
+  movie->stop();
+  movie.reset();
+}
+
+void loadGif(const QString &gifPath, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent) {
+  if (!parent || gifPath.isEmpty()) {
+    return;
+  }
+
+  if (movie && movie->fileName() == gifPath && movie->state() == QMovie::Running) {
+    if (movie->scaledSize() != size) {
+      movie->setScaledSize(size);
+    }
+    return;
+  }
+
+  if (!QFileInfo::exists(gifPath)) {
+    clearMovie(movie, parent);
+    return;
+  }
+
+  clearMovie(movie, parent);
+
+  movie = QSharedPointer<QMovie>::create(gifPath);
+  movie->setCacheMode(QMovie::CacheAll);
+  movie->setScaledSize(size);
+
+  QPointer<QWidget> safeParent(parent);
+  QObject::connect(movie.data(), &QMovie::frameChanged, parent, [safeParent]() {
+    if (safeParent && safeParent->isVisible()) {
+      safeParent->update();
+    }
+  }, Qt::UniqueConnection);
+
+  movie->start();
+}
+
+void loadImage(const QString &basePath, QPixmap &pixmap, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent) {
+  if (!parent || basePath.isEmpty()) {
+    return;
+  }
+
+  static QHash<QString, QPixmap> pixmapCache;
+  QString cacheKey = basePath + QString("_%1x%2").arg(size.width()).arg(size.height());
+
+  QString gifPath = basePath + ".gif";
+  if (QFileInfo::exists(gifPath)) {
+    loadGif(gifPath, movie, size, parent);
+    if (!pixmap.isNull()) {
+      pixmap = QPixmap();
+    }
+    return;
+  }
+
+  clearMovie(movie, parent);
+
+  if (pixmapCache.contains(cacheKey)) {
+    QPixmap &cached = pixmapCache[cacheKey];
+    if (pixmap.cacheKey() != cached.cacheKey()) {
+      pixmap = cached;
+      parent->update();
+    }
+    return;
+  }
+
+  QString pngPath = basePath + ".png";
+  if (!QFileInfo::exists(pngPath)) {
+    if (!pixmap.isNull()) {
+      pixmap = QPixmap();
+      parent->update();
+    }
+    return;
+  }
+
+  QPixmap loadedPixmap(pngPath);
+  if (!loadedPixmap.isNull()) {
+    pixmap = loadedPixmap.scaled(size, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    pixmapCache.insert(cacheKey, pixmap);
+  } else {
+    pixmap = QPixmap();
+  }
+
+  parent->update();
+}
diff --git a/frogpilot/ui/qt/widgets/frogpilot_controls.h b/frogpilot/ui/qt/widgets/frogpilot_controls.h
new file mode 100644
index 00000000..f930059c
--- /dev/null
+++ b/frogpilot/ui/qt/widgets/frogpilot_controls.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <cmath>
+#include <iostream>
+#include <set>
+
+#include <QElapsedTimer>
+#include <QJsonObject>
+#include <QMovie>
+#include <QNetworkAccessManager>
+#include <QNetworkReply>
+#include <QNetworkRequest>
+#include <QStyle>
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+
+void loadGif(const QString &gifPath, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent);
+void loadImage(const QString &basePath, QPixmap &pixmap, QSharedPointer<QMovie> &movie, const QSize &size, QWidget *parent);
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 13545b89..2f605625 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -16,6 +16,8 @@ function agnos_init {
   sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
   sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
 
+  # FrogPilot variables
+
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
diff --git a/launch_env.sh b/launch_env.sh
index e4a6b669..a35bd2b0 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -20,3 +20,6 @@ if [ -z "$AGNOS_VERSION" ]; then
 fi
 
 export STAGING_ROOT="/data/safe_staging"
+
+# FrogPilot variables
+eval "$(/data/openpilot/frogpilot/system/environment_variables)"
diff --git a/opendbc_repo/opendbc/car/body/carstate.py b/opendbc_repo/opendbc/car/body/carstate.py
index b346a3df..8bb0adbd 100644
--- a/opendbc_repo/opendbc/car/body/carstate.py
+++ b/opendbc_repo/opendbc/car/body/carstate.py
@@ -28,6 +28,8 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = True
     ret.cruiseState.available = True
 
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/car_helpers.py b/opendbc_repo/opendbc/car/car_helpers.py
index dfda0155..f7b587f3 100644
--- a/opendbc_repo/opendbc/car/car_helpers.py
+++ b/opendbc_repo/opendbc/car/car_helpers.py
@@ -13,6 +13,8 @@ from opendbc.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
 
 FRAME_FINGERPRINT = 100  # 1s
 
+# FrogPilot variables
+
 
 def load_interfaces(brand_names):
   ret = {}
@@ -163,6 +165,8 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
   CP.fingerprintSource = source
   CP.fuzzyFingerprint = not exact_match
 
+  # FrogPilot variables
+
   return interfaces[CP.carFingerprint](CP)
 
 
diff --git a/opendbc_repo/opendbc/car/chrysler/carstate.py b/opendbc_repo/opendbc/car/chrysler/carstate.py
index 7c8fd505..1225ad3c 100644
--- a/opendbc_repo/opendbc/car/chrysler/carstate.py
+++ b/opendbc_repo/opendbc/car/chrysler/carstate.py
@@ -27,6 +27,8 @@ class CarState(CarStateBase):
     # RealFast variables
     self.button_message = "CRUISE_BUTTONS_ALT" if FPCP.flags & ChryslerFrogPilotFlags.RAM_HD_ALT_BUTTONS else "CRUISE_BUTTONS"
 
+    # FrogPilot variables
+
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -98,7 +100,11 @@ class CarState(CarStateBase):
     self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl[self.button_message]["COUNTER"]
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
+    # FrogPilot variables
+
+    ret.buttonEvents = buttonEvents
 
     return ret
 
diff --git a/opendbc_repo/opendbc/car/ford/carstate.py b/opendbc_repo/opendbc/car/ford/carstate.py
index d0d45f70..d3d29404 100644
--- a/opendbc_repo/opendbc/car/ford/carstate.py
+++ b/opendbc_repo/opendbc/car/ford/carstate.py
@@ -113,6 +113,8 @@ class CarState(CarStateBase):
       *create_button_events(self.lc_button, prev_lc_button, {1: ButtonType.lkas}),
     ]
 
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index 44f1afb5..fb2d48c0 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -141,6 +141,8 @@ class CarController(CarControllerBase):
             at_full_stop = at_full_stop and stopping
             friction_brake_bus = CanBus.POWERTRAIN
 
+          # FrogPilot variables
+
           # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
           can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
           can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
diff --git a/opendbc_repo/opendbc/car/gm/carstate.py b/opendbc_repo/opendbc/car/gm/carstate.py
index d8196005..8972bb54 100644
--- a/opendbc_repo/opendbc/car/gm/carstate.py
+++ b/opendbc_repo/opendbc/car/gm/carstate.py
@@ -182,6 +182,8 @@ class CarState(CarStateBase):
     if self.CP.transmissionType == TransmissionType.direct:
       self.single_pedal_mode = ret.gearShifter == GearShifter.low or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
 
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/gm/fingerprints.py b/opendbc_repo/opendbc/car/gm/fingerprints.py
index 7a879a16..f0fc9248 100644
--- a/opendbc_repo/opendbc/car/gm/fingerprints.py
+++ b/opendbc_repo/opendbc/car/gm/fingerprints.py
@@ -175,6 +175,7 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 647: 3, 707: 8, 717: 5, 723: 2, 753: 5, 761: 7, 800: 6, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 872: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1919: 7, 1920: 7
   }],
+  # FrogPilot variables
 }
 
 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index 7c57c825..54b87e87 100755
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -276,4 +276,6 @@ class CarInterface(CarInterfaceBase):
     if candidate in CC_ONLY_CAR:
       ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
 
+    # FrogPilot variables
+
     return ret
diff --git a/opendbc_repo/opendbc/car/gm/values.py b/opendbc_repo/opendbc/car/gm/values.py
index ca72359c..ef2474ba 100644
--- a/opendbc_repo/opendbc/car/gm/values.py
+++ b/opendbc_repo/opendbc/car/gm/values.py
@@ -245,6 +245,7 @@ class CAR(Platforms):
     [GMCarDocs("Chevrolet Trailblazer 2021-22 (NO ACC)")],
     CHEVROLET_TRAILBLAZER.specs,
   )
+  # FrogPilot variables
 
 
 class CruiseButtons:
@@ -350,3 +351,5 @@ CAMERA_ACC_CAR.update(CC_ONLY_CAR)
 EV_CAR.update(CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_2019, CAR.CHEVROLET_BOLT_EUV)
 
 DBC = CAR.create_dbc_map()
+
+# FrogPilot variables
diff --git a/opendbc_repo/opendbc/car/honda/carstate.py b/opendbc_repo/opendbc/car/honda/carstate.py
index 33449196..fe444a0c 100644
--- a/opendbc_repo/opendbc/car/honda/carstate.py
+++ b/opendbc_repo/opendbc/car/honda/carstate.py
@@ -219,6 +219,8 @@ class CarState(CarStateBase):
       *create_button_events(self.cruise_setting, prev_cruise_setting, SETTINGS_BUTTONS_DICT),
     ]
 
+    # FrogPilot variables
+
     return ret
 
   def get_can_parsers(self, CP):
diff --git a/opendbc_repo/opendbc/car/honda/interface.py b/opendbc_repo/opendbc/car/honda/interface.py
old mode 100755
new mode 100644
diff --git a/opendbc_repo/opendbc/car/hyundai/carstate.py b/opendbc_repo/opendbc/car/hyundai/carstate.py
index 60978970..ad68850e 100644
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -202,6 +202,8 @@ class CarState(CarStateBase):
       self.low_speed_alert = False
     ret.lowSpeedAlert = self.low_speed_alert
 
+    # FrogPilot variables
+
     return ret
 
   def update_canfd(self, can_parsers) -> structs.CarState:
@@ -293,6 +295,8 @@ class CarState(CarStateBase):
 
     ret.blockPcmEnable = not self.recent_button_interaction()
 
+    # FrogPilot variables
+
     return ret
 
   def get_can_parsers_canfd(self, CP):
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index e239298a..178b16ad 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -68,6 +68,9 @@ class HyundaiSafetyFlags(IntFlag):
   ALT_LIMITS_2 = 512
 
 
+# FrogPilot variables
+
+
 class HyundaiFlags(IntFlag):
   # Dynamic Flags
 
diff --git a/opendbc_repo/opendbc/car/interfaces.py b/opendbc_repo/opendbc/car/interfaces.py
index 8328062f..268de6cc 100644
--- a/opendbc_repo/opendbc/car/interfaces.py
+++ b/opendbc_repo/opendbc/car/interfaces.py
@@ -20,6 +20,8 @@ from opendbc.can import CANParser
 GearShifter = structs.CarState.GearShifter
 ButtonType = structs.CarState.ButtonEvent.Type
 
+# FrogPilot variables
+
 V_CRUISE_MAX = 145
 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
@@ -108,6 +110,8 @@ class CarInterfaceBase(ABC):
     dbc_names = {bus: cp.dbc_name for bus, cp in self.can_parsers.items()}
     self.CC: CarControllerBase = self.CarController(dbc_names, CP)
 
+    # FrogPilot variables
+
   def apply(self, c: structs.CarControl, now_nanos: int | None = None) -> tuple[structs.CarControl.Actuators, list[CanData]]:
     if now_nanos is None:
       now_nanos = int(time.monotonic() * 1e9)
@@ -149,8 +153,12 @@ class CarInterfaceBase(ABC):
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
 
+    # FrogPilot variables
+
     return ret
 
+  # FrogPilot variables
+
   @staticmethod
   @abstractmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint: dict[int, dict[int, int]],
@@ -259,6 +267,8 @@ class CarInterfaceBase(ABC):
     # save for next iteration
     self.CS.out = ret
 
+    # FrogPilot variables
+
     return ret
 
 
@@ -287,6 +297,9 @@ class CarStateBase(ABC):
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
+    # FrogPilot variables
+    self.CC: structs.CarControl = structs.CarControl.new_message()
+
   @abstractmethod
   def update(self, can_parsers) -> structs.CarState:
     pass
diff --git a/opendbc_repo/opendbc/car/mazda/carstate.py b/opendbc_repo/opendbc/car/mazda/carstate.py
index 074a13c2..6b7bdd25 100644
--- a/opendbc_repo/opendbc/car/mazda/carstate.py
+++ b/opendbc_repo/opendbc/car/mazda/carstate.py
@@ -115,6 +115,8 @@ class CarState(CarStateBase):
     # TODO: add button types for inc and dec
     ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/mazda/interface.py b/opendbc_repo/opendbc/car/mazda/interface.py
index 814846e8..e59497ea 100755
--- a/opendbc_repo/opendbc/car/mazda/interface.py
+++ b/opendbc_repo/opendbc/car/mazda/interface.py
@@ -29,4 +29,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.centerToFront = ret.wheelbase * 0.41
 
+    # FrogPilot variables
+
     return ret
diff --git a/opendbc_repo/opendbc/car/nissan/carstate.py b/opendbc_repo/opendbc/car/nissan/carstate.py
index 8f38590a..c0533765 100644
--- a/opendbc_repo/opendbc/car/nissan/carstate.py
+++ b/opendbc_repo/opendbc/car/nissan/carstate.py
@@ -24,6 +24,8 @@ class CarState(CarStateBase):
 
     self.distance_button = 0
 
+    # FrogPilot variables
+
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -126,7 +128,11 @@ class CarState(CarStateBase):
       self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
       self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
 
-    ret.buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
+    # FrogPilot variables
+
+    ret.buttonEvents = buttonEvents
 
     return ret
 
diff --git a/opendbc_repo/opendbc/car/psa/carstate.py b/opendbc_repo/opendbc/car/psa/carstate.py
index 81335ef5..bfc88691 100644
--- a/opendbc_repo/opendbc/car/psa/carstate.py
+++ b/opendbc_repo/opendbc/car/psa/carstate.py
@@ -62,6 +62,9 @@ class CarState(CarStateBase):
     # lock info
     ret.doorOpen = any((cp_cam.vl['Dat_BSI']['DRIVER_DOOR'], cp_cam.vl['Dat_BSI']['PASSENGER_DOOR']))
     ret.seatbeltUnlatched = cp_cam.vl['RESTRAINTS']['DRIVER_SEATBELT'] != 2
+
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/rivian/carstate.py b/opendbc_repo/opendbc/car/rivian/carstate.py
index 001d705e..222a55eb 100644
--- a/opendbc_repo/opendbc/car/rivian/carstate.py
+++ b/opendbc_repo/opendbc/car/rivian/carstate.py
@@ -92,6 +92,8 @@ class CarState(CarStateBase):
     self.sccm_wheel_touch = copy.copy(cp.vl["SCCM_WheelTouch"])
     self.vdm_adas_status = copy.copy(cp.vl["VDM_AdasSts"])
 
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/subaru/carcontroller.py b/opendbc_repo/opendbc/car/subaru/carcontroller.py
index 3b9abf59..29cdd982 100644
--- a/opendbc_repo/opendbc/car/subaru/carcontroller.py
+++ b/opendbc_repo/opendbc/car/subaru/carcontroller.py
@@ -11,6 +11,8 @@ from opendbc.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarController
 MAX_STEER_RATE = 25  # deg/s
 MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
+# FrogPilot variables
+
 
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
@@ -23,6 +25,8 @@ class CarController(CarControllerBase):
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
 
+    # FrogPilot variables
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -57,6 +61,8 @@ class CarController(CarControllerBase):
 
       self.apply_torque_last = apply_torque
 
+    # FrogPilot variables
+
     # *** longitudinal ***
 
     if CC.longActive:
@@ -93,6 +99,7 @@ class CarController(CarControllerBase):
 
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
 
+      # FrogPilot variables
     else:
       if self.frame % 10 == 0:
         can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
@@ -105,6 +112,8 @@ class CarController(CarControllerBase):
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
           can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
+      # FrogPilot variables
+
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
           can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
@@ -142,3 +151,5 @@ class CarController(CarControllerBase):
 
     self.frame += 1
     return new_actuators, can_sends
+
+  # FrogPilot variables
diff --git a/opendbc_repo/opendbc/car/subaru/carstate.py b/opendbc_repo/opendbc/car/subaru/carstate.py
index 76bc4ff8..ddfc6f60 100644
--- a/opendbc_repo/opendbc/car/subaru/carstate.py
+++ b/opendbc_repo/opendbc/car/subaru/carstate.py
@@ -123,6 +123,8 @@ class CarState(CarStateBase):
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
       self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/subaru/subarucan.py b/opendbc_repo/opendbc/car/subaru/subarucan.py
index 64cab421..a8a5458b 100644
--- a/opendbc_repo/opendbc/car/subaru/subarucan.py
+++ b/opendbc_repo/opendbc/car/subaru/subarucan.py
@@ -334,3 +334,6 @@ def subaru_checksum(address: int, sig, d: bytearray) -> int:
   for i in range(1, len(d)):
     s += d[i]
   return s & 0xFF
+
+
+# FrogPilot variables
diff --git a/opendbc_repo/opendbc/car/subaru/values.py b/opendbc_repo/opendbc/car/subaru/values.py
index a702d394..54d43da8 100644
--- a/opendbc_repo/opendbc/car/subaru/values.py
+++ b/opendbc_repo/opendbc/car/subaru/values.py
@@ -26,6 +26,7 @@ class CarControllerParams:
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_DELTA_UP = 35
       self.STEER_MAX = 1439
+    # FrogPilot variables
     else:
       self.STEER_MAX = 2047
 
diff --git a/opendbc_repo/opendbc/car/tesla/carstate.py b/opendbc_repo/opendbc/car/tesla/carstate.py
index fa16116b..5f73e4c7 100644
--- a/opendbc_repo/opendbc/car/tesla/carstate.py
+++ b/opendbc_repo/opendbc/car/tesla/carstate.py
@@ -117,6 +117,8 @@ class CarState(CarStateBase):
     # Messages needed by carcontroller
     self.das_control = copy.copy(cp_ap_party.vl["DAS_control"])
 
+    # FrogPilot variables
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/torque_data/params.toml b/opendbc_repo/opendbc/car/torque_data/params.toml
index fde2ca22..d2cfd4cc 100644
--- a/opendbc_repo/opendbc/car/torque_data/params.toml
+++ b/opendbc_repo/opendbc/car/torque_data/params.toml
@@ -80,3 +80,5 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_JETTA_MK7" = [1.2271623034089392, 1.216955117387, 0.19437384688370712]
 "VOLKSWAGEN_PASSAT_MK8" = [1.3432120736752917, 1.7087275587362314, 0.19444383787326647]
 "VOLKSWAGEN_TIGUAN_MK2" = [0.9711965500094828, 1.0001565939459098, 0.1465626137072916]
+
+# FrogPilot variables
diff --git a/opendbc_repo/opendbc/car/torque_data/substitute.toml b/opendbc_repo/opendbc/car/torque_data/substitute.toml
index 238dd7c4..e308be89 100644
--- a/opendbc_repo/opendbc/car/torque_data/substitute.toml
+++ b/opendbc_repo/opendbc/car/torque_data/substitute.toml
@@ -95,3 +95,5 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "CHEVROLET_SUBURBAN_CC" = "CHEVROLET_SILVERADO"
 "CHEVROLET_TRAILBLAZER_CC" = "CHEVROLET_TRAILBLAZER"
+
+# FrogPilot variables
diff --git a/opendbc_repo/opendbc/car/toyota/carcontroller.py b/opendbc_repo/opendbc/car/toyota/carcontroller.py
index 627a2e1b..65315fc3 100644
--- a/opendbc_repo/opendbc/car/toyota/carcontroller.py
+++ b/opendbc_repo/opendbc/car/toyota/carcontroller.py
@@ -34,6 +34,8 @@ MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
 
+# FrogPilot variables
+
 
 def get_long_tune(CP, params):
   if CP.carFingerprint in TSS2_CAR:
@@ -78,6 +80,8 @@ class CarController(CarControllerBase):
     self.secoc_acc_message_counter = 0
     self.secoc_prev_reset_counter = 0
 
+    # FrogPilot variables
+
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     stopping = actuators.longControlState == LongCtrlState.stopping
@@ -319,4 +323,7 @@ class CarController(CarControllerBase):
     new_actuators.accel = self.accel
 
     self.frame += 1
+
+    # FrogPilot variables
+
     return new_actuators, can_sends
diff --git a/opendbc_repo/opendbc/car/toyota/carstate.py b/opendbc_repo/opendbc/car/toyota/carstate.py
index 3fb22740..43c2da73 100644
--- a/opendbc_repo/opendbc/car/toyota/carstate.py
+++ b/opendbc_repo/opendbc/car/toyota/carstate.py
@@ -53,6 +53,8 @@ class CarState(CarStateBase):
     self.gvc = 0.0
     self.secoc_synchronization = None
 
+    # FrogPilot variables
+
   def update(self, can_parsers) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
@@ -198,7 +200,10 @@ class CarState(CarStateBase):
 
         buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
+    # FrogPilot variables
+
     ret.buttonEvents = buttonEvents
+
     return ret
 
   @staticmethod
diff --git a/opendbc_repo/opendbc/car/toyota/values.py b/opendbc_repo/opendbc/car/toyota/values.py
index 0b85d386..9db6457a 100644
--- a/opendbc_repo/opendbc/car/toyota/values.py
+++ b/opendbc_repo/opendbc/car/toyota/values.py
@@ -80,6 +80,9 @@ class ToyotaFlags(IntFlag):
   SNG_WITHOUT_DSU_DEPRECATED = 512
 
 
+# FrogPilot variables
+
+
 def dbc_dict(pt, radar):
   return {Bus.pt: pt, Bus.radar: radar}
 
diff --git a/opendbc_repo/opendbc/car/volkswagen/carstate.py b/opendbc_repo/opendbc/car/volkswagen/carstate.py
index a43a1665..e1228903 100644
--- a/opendbc_repo/opendbc/car/volkswagen/carstate.py
+++ b/opendbc_repo/opendbc/car/volkswagen/carstate.py
@@ -137,6 +137,9 @@ class CarState(CarStateBase):
     ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
 
     self.frame += 1
+
+    # FrogPilot variables
+
     return ret
 
   def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
@@ -228,6 +231,9 @@ class CarState(CarStateBase):
     ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
 
     self.frame += 1
+
+    # FrogPilot variables
+
     return ret
 
   def update_mlb(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
diff --git a/opendbc_repo/opendbc/safety/__init__.py b/opendbc_repo/opendbc/safety/__init__.py
index 5d4c2464..91063855 100644
--- a/opendbc_repo/opendbc/safety/__init__.py
+++ b/opendbc_repo/opendbc/safety/__init__.py
@@ -8,3 +8,5 @@ class ALTERNATIVE_EXPERIENCE:
   DISABLE_STOCK_AEB = 2
   RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX = 8
   ALLOW_AEB = 16
+
+  # FrogPilot variables
diff --git a/opendbc_repo/opendbc/safety/declarations.h b/opendbc_repo/opendbc/safety/declarations.h
index b83b35fc..18b451b8 100644
--- a/opendbc_repo/opendbc/safety/declarations.h
+++ b/opendbc_repo/opendbc/safety/declarations.h
@@ -268,6 +268,8 @@ extern bool acc_main_on; // referred to as "ACC off" in ISO 15622:2018
 extern int cruise_button_prev;
 extern bool safety_rx_checks_invalid;
 
+// FrogPilot variables
+
 // for safety modes with torque steering control
 extern int desired_torque_last;       // last desired steer torque
 extern int rt_torque_last;            // last desired torque for real time check
@@ -309,6 +311,8 @@ extern bool enable_gas_interceptor;
 // This flag allows AEB to be commanded from openpilot.
 #define ALT_EXP_ALLOW_AEB 16
 
+// FrogPilot variables
+
 extern int alternative_experience;
 
 // time since safety mode has been changed
diff --git a/opendbc_repo/opendbc/safety/modes/chrysler.h b/opendbc_repo/opendbc/safety/modes/chrysler.h
index 70e2a3de..30d9096a 100644
--- a/opendbc_repo/opendbc/safety/modes/chrysler.h
+++ b/opendbc_repo/opendbc/safety/modes/chrysler.h
@@ -78,6 +78,8 @@ static void chrysler_rx_hook(const CANPacket_t *msg) {
   if ((msg->bus == das_3_bus) && (msg->addr == chrysler_addrs->DAS_3)) {
     bool cruise_engaged = GET_BIT(msg, 21U);
     pcm_cruise_check(cruise_engaged);
+
+    // FrogPilot variables
   }
 
   // TODO: use the same message for both
diff --git a/opendbc_repo/opendbc/safety/modes/ford.h b/opendbc_repo/opendbc/safety/modes/ford.h
index 4b35cf00..447cc7d1 100644
--- a/opendbc_repo/opendbc/safety/modes/ford.h
+++ b/opendbc_repo/opendbc/safety/modes/ford.h
@@ -158,6 +158,8 @@ static void ford_rx_hook(const CANPacket_t *msg) {
       unsigned int cruise_state = msg->data[1] & 0x07U;
       bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U);
       pcm_cruise_check(cruise_engaged);
+
+      // FrogPilot variables
     }
   }
 }
diff --git a/opendbc_repo/opendbc/safety/modes/gm.h b/opendbc_repo/opendbc/safety/modes/gm.h
index a4004e42..73806c9d 100644
--- a/opendbc_repo/opendbc/safety/modes/gm.h
+++ b/opendbc_repo/opendbc/safety/modes/gm.h
@@ -123,6 +123,8 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       gas_pressed = gas_interceptor > GM_GAS_INTERCEPTOR_THRESHOLD;
     }
   }
+
+  // FrogPilot variables
 }
 
 static bool gm_tx_hook(const CANPacket_t *msg) {
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai.h b/opendbc_repo/opendbc/safety/modes/hyundai.h
index b867f185..70903e7a 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai.h
@@ -52,6 +52,8 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
 #define HYUNDAI_FCEV_GAS_ADDR_CHECK \
   {.msg = {{0x91,  0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
 
+// FrogPilot variables
+
 static const CanMsg HYUNDAI_TX_MSGS[] = {
   HYUNDAI_COMMON_TX_MSGS(0)
 };
@@ -173,6 +175,8 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == 0x394U) {
       brake_pressed = ((msg->data[5] >> 5U) & 0x3U) == 0x2U;
     }
+
+    // FrogPilot variables
   }
 }
 
@@ -279,6 +283,8 @@ static safety_config hyundai_init(uint16_t param) {
       HYUNDAI_FCEV_GAS_ADDR_CHECK
     };
 
+    // FrogPilot variables
+
     if (hyundai_fcev_gas_signal) {
       SET_RX_CHECKS(hyundai_fcev_long_rx_checks, ret);
     } else {
@@ -296,6 +302,8 @@ static safety_config hyundai_init(uint16_t param) {
       HYUNDAI_SCC12_ADDR_CHECK(2)
     };
 
+    // FrogPilot variables
+
     ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
   } else {
     static RxCheck hyundai_rx_checks[] = {
@@ -309,6 +317,8 @@ static safety_config hyundai_init(uint16_t param) {
       HYUNDAI_FCEV_GAS_ADDR_CHECK
     };
 
+    // FrogPilot variables
+
     SET_TX_MSGS(HYUNDAI_TX_MSGS, ret);
     if (hyundai_fcev_gas_signal) {
       SET_RX_CHECKS(hyundai_fcev_rx_checks, ret);
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index 7c345bf4..fca50984 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -88,9 +88,13 @@ static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {
       if (msg->addr == 0x1cfU) {
         cruise_button = msg->data[2] & 0x7U;
         main_button = GET_BIT(msg, 19U);
+
+        // FrogPilot variables
       } else {
         cruise_button = (msg->data[4] >> 4) & 0x7U;
         main_button = GET_BIT(msg, 34U);
+
+        // FrogPilot variables
       }
       hyundai_common_cruise_buttons_check(cruise_button, main_button);
     }
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_common.h b/opendbc_repo/opendbc/safety/modes/hyundai_common.h
index 3cca057d..6a11f852 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_common.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_common.h
@@ -42,6 +42,8 @@ bool hyundai_fcev_gas_signal = false;
 extern bool hyundai_alt_limits_2;
 bool hyundai_alt_limits_2 = false;
 
+// FrogPilot variables
+
 static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 
 void hyundai_common_init(uint16_t param) {
@@ -53,6 +55,8 @@ void hyundai_common_init(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_FCEV_GAS = 256;
   const uint16_t HYUNDAI_PARAM_ALT_LIMITS_2 = 512;
 
+  // FrogPilot variables
+
   hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
   hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
   hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC);
@@ -61,6 +65,8 @@ void hyundai_common_init(uint16_t param) {
   hyundai_fcev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_FCEV_GAS);
   hyundai_alt_limits_2 = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS_2);
 
+  // FrogPilot variables
+
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
 
 #ifdef ALLOW_DEBUG
@@ -110,6 +116,8 @@ void hyundai_common_cruise_buttons_check(const int cruise_button, const bool mai
 
     cruise_button_prev = cruise_button;
   }
+
+  // FrogPilot variables
 }
 
 #ifdef CANFD
@@ -138,3 +146,5 @@ uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *msg) {
   return crc;
 }
 #endif
+
+// FrogPilot variables
diff --git a/opendbc_repo/opendbc/safety/modes/mazda.h b/opendbc_repo/opendbc/safety/modes/mazda.h
index f95cfaf8..b4624c93 100644
--- a/opendbc_repo/opendbc/safety/modes/mazda.h
+++ b/opendbc_repo/opendbc/safety/modes/mazda.h
@@ -34,6 +34,8 @@ static void mazda_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == MAZDA_CRZ_CTRL) {
       bool cruise_engaged = msg->data[0] & 0x8U;
       pcm_cruise_check(cruise_engaged);
+
+      // FrogPilot variables
     }
 
     if (msg->addr == MAZDA_ENGINE_DATA) {
diff --git a/opendbc_repo/opendbc/safety/modes/nissan.h b/opendbc_repo/opendbc/safety/modes/nissan.h
index 9289935f..f41034c4 100644
--- a/opendbc_repo/opendbc/safety/modes/nissan.h
+++ b/opendbc_repo/opendbc/safety/modes/nissan.h
@@ -50,6 +50,8 @@ static void nissan_rx_hook(const CANPacket_t *msg) {
     bool cruise_engaged = (msg->data[0] >> 3) & 1U;
     pcm_cruise_check(cruise_engaged);
   }
+
+  // FrogPilot variables
 }
 
 
diff --git a/opendbc_repo/opendbc/safety/modes/psa.h b/opendbc_repo/opendbc/safety/modes/psa.h
index 6bbd7b9c..971922e6 100644
--- a/opendbc_repo/opendbc/safety/modes/psa.h
+++ b/opendbc_repo/opendbc/safety/modes/psa.h
@@ -10,6 +10,8 @@
 #define PSA_DAT_BSI               1042U // RX from BSI, brake
 #define PSA_LANE_KEEP_ASSIST      1010U // TX from OP,  EPS
 
+// FrogPilot variables
+
 // CAN bus
 #define PSA_MAIN_BUS 0U
 #define PSA_ADAS_BUS 1U
@@ -21,6 +23,7 @@ static uint8_t psa_get_counter(const CANPacket_t *msg) {
     cnt = (msg->data[3] >> 4) & 0xFU;
   } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
     cnt = (msg->data[5] >> 4) & 0xFU;
+  // FrogPilot variables
   } else {
   }
   return cnt;
@@ -32,6 +35,7 @@ static uint32_t psa_get_checksum(const CANPacket_t *msg) {
     chksum = msg->data[5] & 0xFU;
   } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
     chksum = msg->data[5] & 0xFU;
+  // FrogPilot variables
   } else {
   }
   return chksum;
@@ -59,6 +63,7 @@ static uint32_t psa_compute_checksum(const CANPacket_t *msg) {
     chk = _psa_compute_checksum(msg, 0x4, 5);
   } else if (msg->addr == PSA_HS2_DYN_ABR_38D) {
     chk = _psa_compute_checksum(msg, 0x7, 5);
+  // FrogPilot variables
   } else {
   }
   return chk;
@@ -84,6 +89,7 @@ static void psa_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == PSA_HS2_DAT_MDD_CMD_452) {
       pcm_cruise_check((msg->data[2U] >> 7U) & 1U); // RVV_ACC_ACTIVATION_REQ
     }
+    // FrogPilot variables
   }
 
 
@@ -136,6 +142,8 @@ static safety_config psa_init(uint16_t param) {
     {.msg = {{PSA_STEERING, PSA_MAIN_BUS, 7, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},     // driver torque
     {.msg = {{PSA_DYN_CMM, PSA_MAIN_BUS, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},      // gas pedal
     {.msg = {{PSA_DAT_BSI, PSA_CAM_BUS, 8, 20U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},        // brake
+
+    // FrogPilot variables
   };
 
   return BUILD_SAFETY_CFG(psa_rx_checks, PSA_TX_MSGS);
diff --git a/opendbc_repo/opendbc/safety/modes/rivian.h b/opendbc_repo/opendbc/safety/modes/rivian.h
index 35645b7c..879034fc 100644
--- a/opendbc_repo/opendbc/safety/modes/rivian.h
+++ b/opendbc_repo/opendbc/safety/modes/rivian.h
@@ -97,6 +97,8 @@ static void rivian_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == 0x100U) {
       const int feature_status = msg->data[2] >> 5U;
       pcm_cruise_check(feature_status == 1);
+
+      // FrogPilot variables
     }
   }
 }
diff --git a/opendbc_repo/opendbc/safety/modes/subaru.h b/opendbc_repo/opendbc/safety/modes/subaru.h
index 9b01d39d..38167047 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru.h
@@ -109,6 +109,8 @@ static void subaru_rx_hook(const CANPacket_t *msg) {
   if ((msg->addr == MSG_SUBARU_CruiseControl) && (msg->bus == alt_main_bus)) {
     bool cruise_engaged = (msg->data[5] >> 1) & 1U;
     pcm_cruise_check(cruise_engaged);
+
+    // FrogPilot variables
   }
 
   // update vehicle moving with any non-zero wheel speed
diff --git a/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h b/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
index 4ddcdc10..1d025410 100644
--- a/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
+++ b/opendbc_repo/opendbc/safety/modes/subaru_preglobal.h
@@ -33,6 +33,8 @@ static void subaru_preglobal_rx_hook(const CANPacket_t *msg) {
     if (msg->addr == MSG_SUBARU_PG_CruiseControl) {
       bool cruise_engaged = (msg->data[6] >> 1) & 1U;
       pcm_cruise_check(cruise_engaged);
+
+      // FrogPilot variables
     }
 
     // update vehicle moving with any non-zero wheel speed
diff --git a/opendbc_repo/opendbc/safety/modes/tesla.h b/opendbc_repo/opendbc/safety/modes/tesla.h
index b8f41f04..1a258600 100644
--- a/opendbc_repo/opendbc/safety/modes/tesla.h
+++ b/opendbc_repo/opendbc/safety/modes/tesla.h
@@ -159,6 +159,8 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
       cruise_engaged = cruise_engaged && !tesla_autopark;
 
       pcm_cruise_check(cruise_engaged);
+
+      // FrogPilot variables
     }
 
     if (msg->addr == 0x155U) {
diff --git a/opendbc_repo/opendbc/safety/modes/toyota.h b/opendbc_repo/opendbc/safety/modes/toyota.h
index c2a46627..0e58d8db 100644
--- a/opendbc_repo/opendbc/safety/modes/toyota.h
+++ b/opendbc_repo/opendbc/safety/modes/toyota.h
@@ -39,6 +39,7 @@
 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                       \
   {.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
   {.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}},                           \
+  /* FrogPilot Variables */                                                                                                   \
 
 #define TOYOTA_RX_CHECKS(lta)                                                                                                               \
   TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                              \
@@ -159,6 +160,8 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
 
       UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 * KPH_TO_MS);
     }
+
+    // FrogPilot variables
   }
 }
 
diff --git a/opendbc_repo/opendbc/safety/safety.h b/opendbc_repo/opendbc/safety/safety.h
index 6211ab2e..2c0683e3 100644
--- a/opendbc_repo/opendbc/safety/safety.h
+++ b/opendbc_repo/opendbc/safety/safety.h
@@ -60,6 +60,8 @@ bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;
 bool safety_rx_checks_invalid = false;
 
+// FrogPilot variables
+
 // for safety modes with torque steering control
 int desired_torque_last = 0;       // last desired steer torque
 int rt_torque_last = 0;            // last desired torque for real time check
@@ -366,6 +368,8 @@ static void generic_rx_checks(void) {
     controls_allowed = false;
   }
   steering_disengage_prev = steering_disengage;
+
+  // FrogPilot variables
 }
 
 static void stock_ecu_check(bool stock_ecu_detected) {
@@ -489,6 +493,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   // OPGM variables
   enable_gas_interceptor = false;
 
+  // FrogPilot variables
+
   return set_status;
 }
 
diff --git a/opendbc_repo/opendbc/safety/tests/common.py b/opendbc_repo/opendbc/safety/tests/common.py
index 20f7cf7a..5440b455 100644
--- a/opendbc_repo/opendbc/safety/tests/common.py
+++ b/opendbc_repo/opendbc/safety/tests/common.py
@@ -301,6 +301,8 @@ class TorqueSteeringSafetyTestBase(SafetyTestBase, abc.ABC):
     for _ in range(10):
       self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, 1)))
 
+  # FrogPilot variables
+
 
 class SteerRequestCutSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC):
 
@@ -806,6 +808,8 @@ class AngleSteeringSafetyTest(VehicleSpeedSafetyTest):
     for _ in range(5):
       self.assertTrue(self._tx(self._angle_cmd_msg(0, True, increment_timer=False)))
 
+  # FrogPilot variables
+
 
 class SafetyTest(SafetyTestBase):
   TX_MSGS: list[list[int]] | None = None
diff --git a/opendbc_repo/opendbc/safety/tests/hyundai_common.py b/opendbc_repo/opendbc/safety/tests/hyundai_common.py
index 5d79155a..df7dd8c7 100644
--- a/opendbc_repo/opendbc/safety/tests/hyundai_common.py
+++ b/opendbc_repo/opendbc/safety/tests/hyundai_common.py
@@ -71,6 +71,8 @@ class HyundaiButtonBase:
       self.assertEqual(controls_allowed, self.safety.get_controls_allowed())
       self._rx(self._button_msg(Buttons.NONE))
 
+  # FrogPilot variables
+
 
 class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest):
 
diff --git a/opendbc_repo/opendbc/safety/tests/test_chrysler.py b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
index daa585ab..8a3f1c32 100755
--- a/opendbc_repo/opendbc/safety/tests/test_chrysler.py
+++ b/opendbc_repo/opendbc/safety/tests/test_chrysler.py
@@ -71,6 +71,8 @@ class TestChryslerSafety(common.CarSafetyTest, common.MotorTorqueSteeringSafetyT
       self.assertFalse(self._tx(self._button_msg(cancel=True, resume=True)))
       self.assertFalse(self._tx(self._button_msg(cancel=False, resume=False)))
 
+  # FrogPilot variables
+
 
 class TestChryslerRamDTSafety(TestChryslerSafety):
   TX_MSGS = [[0xB1, 2], [0xA6, 0], [0xFA, 0]]
diff --git a/opendbc_repo/opendbc/safety/tests/test_ford.py b/opendbc_repo/opendbc/safety/tests/test_ford.py
index f8cc80e0..88c90a1f 100755
--- a/opendbc_repo/opendbc/safety/tests/test_ford.py
+++ b/opendbc_repo/opendbc/safety/tests/test_ford.py
@@ -378,6 +378,8 @@ class TestFordSafetyBase(common.CarSafetyTest):
       for bus in (0, 2):
         self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus)))
 
+  # FrogPilot variables
+
 
 class TestFordCANFDStockSafety(TestFordSafetyBase):
   STEER_MESSAGE = MSG_LateralMotionControl2
diff --git a/opendbc_repo/opendbc/safety/tests/test_gm.py b/opendbc_repo/opendbc/safety/tests/test_gm.py
index 007ec734..e3955191 100755
--- a/opendbc_repo/opendbc/safety/tests/test_gm.py
+++ b/opendbc_repo/opendbc/safety/tests/test_gm.py
@@ -132,6 +132,8 @@ class TestGmSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTe
     values = {"ACCButtons": buttons}
     return self.packer.make_can_msg_safety("ASCMSteeringButton", self.BUTTONS_BUS, values)
 
+  # FrogPilot variables
+
 
 class TestGmEVSafetyBase(TestGmSafetyBase):
   EXTRA_SAFETY_PARAM = GMSafetyFlags.EV
diff --git a/opendbc_repo/opendbc/safety/tests/test_honda.py b/opendbc_repo/opendbc/safety/tests/test_honda.py
index 44220095..38714741 100755
--- a/opendbc_repo/opendbc/safety/tests/test_honda.py
+++ b/opendbc_repo/opendbc/safety/tests/test_honda.py
@@ -237,6 +237,8 @@ class HondaBase(common.CarSafetyTest):
     self.assertTrue(self._tx(self._send_steer_msg(0x0000)))
     self.assertFalse(self._tx(self._send_steer_msg(0x1000)))
 
+  # FrogPilot variables
+
 
 # ********************* Honda Nidec **********************
 
@@ -598,5 +600,6 @@ class TestHondaBoschCANFDAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschCANFDS
     self.safety.init_tests()
 
 
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
index dd992f33..f638f2b0 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
@@ -81,6 +81,8 @@ class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.Drive
     }
     return self.packer.make_can_msg_safety("CRUISE_BUTTONS", bus, values)
 
+  # FrogPilot variables
+
 
 class TestHyundaiCanfdLFASteeringBase(TestHyundaiCanfdBase):
 
@@ -150,6 +152,8 @@ class TestHyundaiCanfdLFASteeringAltButtonsBase(TestHyundaiCanfdLFASteeringBase)
       self.assertFalse(self._tx(self._acc_cancel_msg(True, accel=1)))
       self.assertFalse(self._tx(self._acc_cancel_msg(False)))
 
+  # FrogPilot variables
+
 
 @parameterized_class(ALL_GAS_EV_HYBRID_COMBOS)
 class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringAltButtonsBase):
@@ -284,5 +288,6 @@ class TestHyundaiCanfdLFASteeringLongAltButtons(TestHyundaiCanfdLFASteeringLongB
     pass
 
 
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_mazda.py b/opendbc_repo/opendbc/safety/tests/test_mazda.py
index 607edcbf..5d228826 100755
--- a/opendbc_repo/opendbc/safety/tests/test_mazda.py
+++ b/opendbc_repo/opendbc/safety/tests/test_mazda.py
@@ -80,6 +80,8 @@ class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTes
     self.assertTrue(self._tx(self._button_msg(cancel=True)))
     self.assertTrue(self._tx(self._button_msg(resume=True)))
 
+  # FrogPilot variables
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_nissan.py b/opendbc_repo/opendbc/safety/tests/test_nissan.py
index 8f034cd7..7090695b 100755
--- a/opendbc_repo/opendbc/safety/tests/test_nissan.py
+++ b/opendbc_repo/opendbc/safety/tests/test_nissan.py
@@ -79,6 +79,8 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):
         tx = self._tx(self._acc_button_cmd(**args))
         self.assertEqual(tx, should_tx)
 
+  # FrogPilot variables
+
 
 class TestNissanSafetyAltEpsBus(TestNissanSafety):
   """Altima uses different buses"""
@@ -113,6 +115,8 @@ class TestNissanLeafSafety(TestNissanSafety):
   def test_acc_buttons(self):
     pass
 
+  # FrogPilot variables
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru.py b/opendbc_repo/opendbc/safety/tests/test_subaru.py
index a0ad42d8..c7c3c8d6 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru.py
@@ -111,6 +111,8 @@ class TestSubaruSafetyBase(common.CarSafetyTest):
     values = {"Cruise_Activated": enable}
     return self.packer.make_can_msg_safety("CruiseControl", self.ALT_MAIN_BUS, values)
 
+  # FrogPilot variables
+
 
 class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
   def _cancel_msg(self, cancel, cruise_throttle=0):
diff --git a/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py b/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
index fb96de24..5d470187 100755
--- a/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
+++ b/opendbc_repo/opendbc/safety/tests/test_subaru_preglobal.py
@@ -59,6 +59,8 @@ class TestSubaruPreglobalSafety(common.CarSafetyTest, common.DriverTorqueSteerin
     values = {"Cruise_Activated": enable}
     return self.packer.make_can_msg_safety("CruiseControl", 0, values)
 
+  # FrogPilot variables
+
 
 class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety):
   FLAGS = SubaruSafetyFlags.PREGLOBAL_REVERSED_DRIVER_TORQUE
diff --git a/opendbc_repo/opendbc/safety/tests/test_tesla.py b/opendbc_repo/opendbc/safety/tests/test_tesla.py
index 52390f81..07df31d8 100755
--- a/opendbc_repo/opendbc/safety/tests/test_tesla.py
+++ b/opendbc_repo/opendbc/safety/tests/test_tesla.py
@@ -353,6 +353,8 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
         # Recover
         self.assertTrue(self._tx(self._angle_cmd_msg(0, True)))
 
+  # FrogPilot variables
+
 
 class TestTeslaStockSafety(TestTeslaSafetyBase):
 
diff --git a/opendbc_repo/opendbc/safety/tests/test_toyota.py b/opendbc_repo/opendbc/safety/tests/test_toyota.py
index dc94ddbe..3bdff15c 100755
--- a/opendbc_repo/opendbc/safety/tests/test_toyota.py
+++ b/opendbc_repo/opendbc/safety/tests/test_toyota.py
@@ -122,6 +122,8 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
       self.assertFalse(self._rx(msg))
       self.assertFalse(self.safety.get_controls_allowed())
 
+  # FrogPilot variables
+
 
 class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):
 
@@ -394,5 +396,6 @@ class TestToyotaSecOcSafety(TestToyotaSecOcSafetyBase):
         self.assertEqual(should_tx, self._tx(self._accel_msg_343(accel, cancel_req=1)))
 
 
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
index 47f77a8d..5418f913 100755
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_mqb.py
@@ -126,6 +126,8 @@ class TestVolkswagenMqbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
     self.assertEqual(0, self.safety.get_torque_driver_max())
     self.assertEqual(0, self.safety.get_torque_driver_min())
 
+  # FrogPilot variables
+
 
 class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafetyBase):
   TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]]
diff --git a/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py b/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
index 72f0bfa6..bb099573 100755
--- a/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
+++ b/opendbc_repo/opendbc/safety/tests/test_volkswagen_pq.py
@@ -108,6 +108,8 @@ class TestVolkswagenPqSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeri
     self.assertEqual(0, self.safety.get_torque_driver_max())
     self.assertEqual(0, self.safety.get_torque_driver_min())
 
+  # FrogPilot variables
+
 
 class TestVolkswagenPqStockSafety(TestVolkswagenPqSafetyBase):
   # Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
old mode 100755
new mode 100644
index 42cdc1ff..772627be
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -63,6 +63,8 @@ class Car:
   RI: RadarInterfaceBase
   CP: car.CarParams
 
+  # FrogPilot variables
+
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
@@ -105,6 +107,8 @@ class Car:
 
       # continue onto next fingerprinting step in pandad
       self.params.put_bool("FirmwareQueryDone", True)
+
+      # FrogPilot variables
     else:
       self.CI, self.CP = CI, CI.CP
       self.RI = RI
@@ -162,6 +166,8 @@ class Car:
     # OPGM variables
     self.resume_prev_button = False
 
+    # FrogPilot variables
+
   def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
@@ -202,6 +208,8 @@ class Car:
     elif any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents):
       self.resume_prev_button = False
 
+    # FrogPilot variables
+
     return CS, RD
 
   def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
@@ -234,6 +242,8 @@ class Car:
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
+    # FrogPilot variables
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl):
     """control update loop, driven by carControl"""
 
@@ -265,6 +275,9 @@ class Car:
     self.initialized_prev = initialized
     self.CS_prev = CS
 
+    # FrogPilot variables
+    self.CI.CS.CC = self.sm['carControl']
+
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index 644337b9..187e13b8 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -109,6 +109,8 @@ class VCruiseHelper:
     else:
       self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
 
+    # FrogPilot variables
+
     # If set is pressed while overriding, clip cruise speed to minimum of vEgo
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1599c7c6..2f1e20f3 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -58,6 +58,8 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI, DT_CTRL)
 
+    # FrogPilot variables
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -66,6 +68,8 @@ class Controls:
       device_pose = Pose.from_live_pose(self.sm['livePose'])
       self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
 
+    # FrogPilot variables
+
   def state_control(self):
     CS = self.sm['carState']
 
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index ee4567f1..a77ab526 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -29,6 +29,8 @@ DESIRES = {
   },
 }
 
+# FrogPilot variables
+
 
 class DesireHelper:
   def __init__(self):
@@ -40,6 +42,8 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
 
+    # FrogPilot variables
+
   @staticmethod
   def get_lane_change_direction(CS):
     return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right
@@ -72,12 +76,18 @@ class DesireHelper:
         blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                               (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
+        # FrogPilot variables
+
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
         elif torque_applied and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
+          # FrogPilot variables
+
+        # FrogPilot variables
+
       # LaneChangeState.laneChangeStarting
       elif self.lane_change_state == LaneChangeState.laneChangeStarting:
         # fade out over .5s
@@ -117,3 +127,5 @@ class DesireHelper:
         self.keep_pulse_timer = 0.0
       elif self.desire in (log.Desire.keepLeft, log.Desire.keepRight):
         self.desire = log.Desire.none
+
+    # FrogPilot variables
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 34fc85f8..ad2f25e4 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -87,6 +87,9 @@ class LongitudinalPlanner:
       throttle_prob = model_msg.meta.disengagePredictions.gasPressProbs[1]
     else:
       throttle_prob = 1.0
+
+    # FrogPilot variables
+
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index bec7eede..6e5d5b33 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -22,6 +22,8 @@ def main():
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2')
 
+  # FrogPilot variables
+
   while True:
     sm.update()
     if sm.updated['modelV2']:
@@ -35,6 +37,8 @@ def main():
       msg.driverAssistance.rightLaneDeparture = ldw.right
       pm.send('driverAssistance', msg)
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 98fce1cb..f90fd54f 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -58,6 +58,8 @@ class Track:
     self.K_K = kalman_params.K
     self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
 
+    # FrogPilot variables
+
   def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float):
     # relative values, copy
     self.dRel = d_rel   # LONG_DIST
@@ -109,6 +111,8 @@ class Track:
     ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
     return ret
 
+  # FrogPilot variables
+
 
 def laplacian_pdf(x: float, mu: float, b: float):
   b = max(b, 1e-4)
@@ -116,6 +120,8 @@ def laplacian_pdf(x: float, mu: float, b: float):
 
 
 def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: dict[int, Track]):
+  # FrogPilot variables
+
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
 
   def prob(c):
@@ -179,9 +185,14 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
       if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
         lead_dict = closest_track.get_RadarState()
 
+  # FrogPilot variables
+
   return lead_dict
 
 
+# FrogPilot variables
+
+
 class RadarD:
   def __init__(self, delay: float = 0.0):
     self.current_time = 0.0
@@ -198,6 +209,8 @@ class RadarD:
 
     self.ready = False
 
+    # FrogPilot variables
+
   def update(self, sm: messaging.SubMaster, rr: car.RadarData):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
@@ -242,6 +255,8 @@ class RadarD:
       self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
       self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
 
+    # FrogPilot variables
+
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
 
@@ -266,6 +281,8 @@ def main() -> None:
 
   RD = RadarD(CP.radarDelay)
 
+  # FrogPilot variables
+
   while 1:
     sm.update()
 
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index d7834f7f..7a53bce8 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -374,6 +374,8 @@ def main():
     lag, valid_blocks = initial_lag_params
     lag_learner.reset(lag, valid_blocks)
 
+  # FrogPilot variables
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -392,3 +394,5 @@ def main():
 
       if sm.frame % 1200 == 0: # cache every 60 seconds
         params.put_nonblocking("LiveDelay", lag_msg_dat)
+
+    # FrogPilot variables
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index a5a7228e..41473bc5 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -283,6 +283,8 @@ def main():
   steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
+  # FrogPilot variables
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -300,6 +302,8 @@ def main():
 
       pm.send('liveParameters', msg_dat)
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 3f9b846e..86f44f57 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -251,6 +251,8 @@ def main(demo=False):
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
 
+  # FrogPilot variables
+
   while True:
     sm.update()
     if sm.all_checks():
@@ -268,6 +270,8 @@ def main(demo=False):
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
       params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   import argparse
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 006eeef6..195c51da 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -225,6 +225,8 @@ class ModelState:
 def main(demo=False):
   cloudlog.warning("modeld init")
 
+  # FrogPilot variables
+
   if not USBGPU:
     # USB GPU currently saturates a core so can't do this yet,
     # also need to move the aux USB interrupts for good timings
@@ -294,6 +296,8 @@ def main(demo=False):
 
   DH = DesireHelper()
 
+  # FrogPilot variables
+
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
     while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
@@ -397,8 +401,12 @@ def main(demo=False):
       pm.send('modelV2', modelv2_send)
       pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
+
+      # FrogPilot variables
     last_vipc_frame_id = meta_main.frame_id
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   try:
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 1ac2c2dc..08e30955 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -15,6 +15,8 @@ def dmonitoringd_thread():
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
   demo_mode=False
 
+  # FrogPilot variables
+
   # 20Hz <- dmonitoringmodeld
   while True:
     sm.update()
@@ -27,6 +29,7 @@ def dmonitoringd_thread():
       DM.run_step(sm, demo=demo_mode)
     elif valid:
       DM.run_step(sm, demo=demo_mode)
+    # FrogPilot variables
 
     # publish
     dat = DM.get_state_packet(valid=valid)
diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index b0895034..594b9426 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -65,6 +65,8 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
   auto safety_configs = car_params.getSafetyConfigs();
   uint16_t alternative_experience = car_params.getAlternativeExperience();
 
+  // FrogPilot variables
+
   for (int i = 0; i < pandas_.size(); ++i) {
     // Default to SILENT safety model if not specified
     cereal::CarParams::SafetyModel safety_model = cereal::CarParams::SafetyModel::SILENT;
@@ -74,6 +76,8 @@ void PandaSafety::setSafetyMode(const std::string &params_string) {
       safety_param = safety_configs[i].getSafetyParam();
     }
 
+    // FrogPilot variables
+
     LOGW("Panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience);
     pandas_[i]->set_alternative_experience(alternative_experience);
     pandas_[i]->set_safety_model(safety_model, safety_param);
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 2fd4a4de..fe5a1b6d 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -43,6 +43,8 @@
 
 ExitHandler do_exit;
 
+// FrogPilot variables
+
 bool check_all_connected(const std::vector<Panda *> &pandas) {
   for (const auto& panda : pandas) {
     if (!panda->connected()) {
@@ -107,6 +109,8 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
     } else {
       LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
     }
+
+    // FrogPilot variables
   }
 }
 
@@ -421,9 +425,9 @@ void process_peripheral_state(Panda *panda, PubMaster *pm, bool no_fan_control)
     }
 
     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0) {
-      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL); 
+      int16_t ir_panda = util::map_val(ir_pwr, 0, 100, 0, MAX_IR_PANDA_VAL);
       panda->set_ir_pwr(ir_panda);
-      Hardware::set_ir_power(ir_pwr); 
+      Hardware::set_ir_power(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
   }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 1acfa296..e9b91fd8 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -9,6 +9,7 @@ from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
@@ -21,6 +22,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 EventName = log.OnroadEvent.EventName
 
+# FrogPilot variables
+
 
 # Alert priorities
 class Priority(IntEnum):
@@ -49,6 +52,8 @@ class ET:
 # get event name from enum
 EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
+# FrogPilot variables
+
 
 class Events:
   def __init__(self):
@@ -389,6 +394,9 @@ def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messagin
   return NormalPermanentAlert("Invalid LKAS setting", text)
 
 
+# FrogPilot variables
+
+
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -1020,6 +1028,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 }
 
+# FrogPilot variables
+FROGPILOT_EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
+}
+
 
 if HARDWARE.get_device_type() == 'mici':
   EVENTS.update({
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 997c7e37..2221c77b 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -39,6 +39,8 @@ EventName = log.OnroadEvent.EventName
 ButtonType = car.CarState.ButtonEvent.Type
 SafetyModel = car.CarParams.SafetyModel
 
+# FrogPilot variables
+
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 
@@ -139,6 +141,8 @@ class SelfdriveD:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    # FrogPilot variables
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -401,6 +405,8 @@ class SelfdriveD:
         self.params.put_nonblocking('LongitudinalPersonality', self.personality)
         self.events.add(EventName.personalityChanged)
 
+    # FrogPilot variables
+
   def data_sample(self):
     _car_state = messaging.recv_one(self.car_state_sock)
     CS = _car_state.carState if _car_state else self.CS_prev
@@ -461,6 +467,8 @@ class SelfdriveD:
     self.AM.add_many(self.sm.frame, alerts)
     self.AM.process_alerts(self.sm.frame, clear_event_types)
 
+    # FrogPilot variables
+
   def publish_selfdriveState(self, CS):
     # selfdriveState
     ss_msg = messaging.new_message('selfdriveState')
@@ -491,6 +499,8 @@ class SelfdriveD:
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
+    # FrogPilot variables
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
@@ -502,6 +512,8 @@ class SelfdriveD:
 
     self.CS_prev = CS
 
+    # FrogPilot variables
+
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index ba9fa8b7..d89d991a 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -4,6 +4,8 @@ Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformat
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
+# FrogPilot variables
+
 if arch == 'larch64':
   base_libs.append('EGL')
 
@@ -21,6 +23,10 @@ widgets_src = ["qt/widgets/input.cc", "qt/widgets/wifi.cc", "qt/prime_state.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
 
+# FrogPilot variables
+frogpilot_widgets_src = ["../../frogpilot/ui/qt/widgets/frogpilot_controls.cc"]
+widgets_src += frogpilot_widgets_src
+
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
@@ -32,6 +38,11 @@ qt_src = ["main.cc", "ui.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc", "qt/onroad/model.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc", "qt/onroad/driver_monitoring.cc", "qt/onroad/hud.cc"]
 
+# FrogPilot variables
+frogpilot_src = ["../../frogpilot/ui/frogpilot_ui.cc", "../../frogpilot/ui/qt/onroad/frogpilot_annotated_camera.cc",
+                 "../../frogpilot/ui/qt/onroad/frogpilot_buttons.cc", "../../frogpilot/ui/qt/onroad/frogpilot_onroad.cc"]
+qt_src += frogpilot_src
+
 # build translation files
 with open(File("translations/languages.json").abspath) as f:
   languages = json.loads(f.read())
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 8b1fdf47..7d7f9147 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -42,13 +42,15 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
   QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition);
+
+  // FrogPilot variables
 }
 
 void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
-void HomeWindow::updateState(const UIState &s) {
+void HomeWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
   const SubMaster &sm = *(s.sm);
 
   // switch to the generic robot UI
@@ -56,13 +58,22 @@ void HomeWindow::updateState(const UIState &s) {
     body->setEnabled(true);
     slayout->setCurrentWidget(body);
   }
+
+  // FrogPilot variables
+  const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
 }
 
 void HomeWindow::offroadTransition(bool offroad) {
+  // FrogPilot variables
+  FrogPilotUIState &fs = *frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+
   body->setEnabled(false);
   sidebar->setVisible(offroad);
   if (offroad) {
     slayout->setCurrentWidget(home);
+
+    // FrogPilot variables
   } else {
     slayout->setCurrentWidget(onroad);
   }
@@ -76,12 +87,16 @@ void HomeWindow::showDriverView(bool show) {
     slayout->setCurrentWidget(home);
   }
   sidebar->setVisible(show == false);
+
+  // FrogPilot variables
 }
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
     sidebar->setVisible(!sidebar->isVisible());
+
+    // FrogPilot variables
   }
 }
 
@@ -109,6 +124,8 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   header_layout->setContentsMargins(0, 0, 0, 0);
   header_layout->setSpacing(16);
 
+  // FrogPilot variables
+
   update_notif = new QPushButton(tr("UPDATE"));
   update_notif->setVisible(false);
   update_notif->setStyleSheet("background-color: #364DEF;");
@@ -240,4 +257,8 @@ void OffroadHome::refresh() {
   if (alerts) {
     alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
   }
+
+  // FrogPilot variables
+  FrogPilotUIState &fs = *frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
 }
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index a19b70ac..4e5068d8 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -39,6 +39,8 @@ private:
   OffroadAlert* alerts_widget;
   QPushButton* alert_notif;
   QPushButton* update_notif;
+
+  // FrogPilot variables
 };
 
 class HomeWindow : public QWidget {
@@ -68,6 +70,8 @@ private:
   DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
+  // FrogPilot variables
+
 private slots:
-  void updateState(const UIState &s);
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
 };
diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h
index cab932a3..76baec3b 100644
--- a/selfdrive/ui/qt/network/wifi_manager.h
+++ b/selfdrive/ui/qt/network/wifi_manager.h
@@ -69,6 +69,8 @@ public:
   void changeTetheringPassword(const QString &newPassword);
   QString getTetheringPassword();
 
+  // FrogPilot variables
+
 private:
   QString adapter;  // Path to network manager wifi-device
   QTimer timer;
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index a095228d..9370d7cf 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -45,6 +45,8 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 
   // Toggles should be not available to change in onroad state
   QObject::connect(uiState(), &UIState::offroadTransition, this, &DeveloperPanel::updateToggles);
+
+  // FrogPilot variables
 }
 
 void DeveloperPanel::updateToggles(bool _offroad) {
@@ -59,6 +61,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     if (btn != experimentalLongitudinalToggle) {
       btn->setEnabled(_offroad);
     }
+
+    // FrogPilot variables
   }
 
   // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control
@@ -81,6 +85,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
+
+    // FrogPilot variables
   } else {
     longManeuverToggle->setEnabled(false);
     experimentalLongitudinalToggle->setVisible(false);
@@ -88,8 +94,12 @@ void DeveloperPanel::updateToggles(bool _offroad) {
   experimentalLongitudinalToggle->refresh();
 
   offroad = _offroad;
+
+  // FrogPilot variables
 }
 
 void DeveloperPanel::showEvent(QShowEvent *event) {
   updateToggles(offroad);
+
+  // FrogPilot variables
 }
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index c73421b1..e707cffd 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -8,6 +8,8 @@ public:
   explicit DeveloperPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
+// FrogPilot variables
+
 private:
   Params params;
   ParamControl* adbToggle;
@@ -17,6 +19,8 @@ private:
   bool is_release;
   bool offroad = false;
 
+  // FrogPilot variables
+
 private slots:
   void updateToggles(bool _offroad);
 };
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 96734d69..e676456f 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -119,6 +119,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // Toggles with confirmation dialogs
   toggles["ExperimentalMode"]->setActiveIcon("../assets/icons/experimental.svg");
   toggles["ExperimentalMode"]->setConfirmation(true, true);
+
+  // FrogPilot variables
 }
 
 void TogglesPanel::updateState(const UIState &s) {
@@ -201,6 +203,10 @@ void TogglesPanel::updateToggles() {
   } else {
     experimental_mode_toggle->setDescription(e2e_description);
   }
+
+  // FrogPilot variables
+  FrogPilotUIState &fs = *frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
 }
 
 DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
@@ -406,6 +412,10 @@ void SettingsWindow::showEvent(QShowEvent *event) {
   setCurrentPanel(0);
 }
 
+// FrogPilot variables
+void SettingsWindow::hideEvent(QHideEvent *event) {
+}
+
 void SettingsWindow::setCurrentPanel(int index, const QString &param) {
   if (!param.isEmpty()) {
     // Check if param ends with "Panel" to determine if it's a panel name
@@ -454,7 +464,10 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   close_btn->setFixedSize(200, 200);
   sidebar_layout->addSpacing(45);
   sidebar_layout->addWidget(close_btn, 0, Qt::AlignCenter);
-  QObject::connect(close_btn, &QPushButton::clicked, this, &SettingsWindow::closeSettings);
+  QObject::connect(close_btn, &QPushButton::clicked, [this]() {
+    // FrogPilot variables
+    closeSettings();
+  });
 
   // setup panels
   DevicePanel *device = new DevicePanel(this);
@@ -468,6 +481,8 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   auto networking = new Networking(this);
   QObject::connect(uiState()->prime_state, &PrimeState::changed, networking, &Networking::setPrimeType);
 
+  // FrogPilot variables
+
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
     {tr("Network"), networking},
@@ -508,6 +523,8 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     panel_widget->addWidget(panel_frame);
 
     QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      // FrogPilot variables
+
       btn->setChecked(true);
       panel_widget->setCurrentWidget(w);
     });
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index d52cf16b..c5b7a5aa 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -25,6 +25,9 @@ public:
 protected:
   void showEvent(QShowEvent *event) override;
 
+  // FrogPilot variables
+  void hideEvent(QHideEvent *event) override;
+
 signals:
   void closeSettings();
   void reviewTrainingGuide();
@@ -32,11 +35,16 @@ signals:
   void expandToggleDescription(const QString &param);
   void scrollToToggle(const QString &param);
 
+  // FrogPilot variables
+
 private:
   QPushButton *sidebar_alert_widget;
   QWidget *sidebar_widget;
   QButtonGroup *nav_btns;
   QStackedWidget *panel_widget;
+
+  // FrogPilot variables
+  Params params;
 };
 
 class DevicePanel : public ListWidget {
@@ -65,6 +73,9 @@ public:
   explicit TogglesPanel(SettingsWindow *parent);
   void showEvent(QShowEvent *event) override;
 
+signals:
+  // FrogPilot variables
+
 public slots:
   void expandToggleDescription(const QString &param);
   void scrollToToggle(const QString &param);
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index 9bc3fad3..346948f9 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -68,6 +68,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
       params.put("UpdaterTargetBranch", selection.toStdString());
       targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
       checkForUpdates();
+
+      // FrogPilot variables
     }
   });
   if (!params.getBool("IsTestedBranch")) {
@@ -101,9 +103,17 @@ void SoftwarePanel::showEvent(QShowEvent *event) {
   installBtn->setEnabled(true);
 
   updateLabels();
+
+  // FrogPilot variables
+  FrogPilotUIState &fs = *frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
 }
 
 void SoftwarePanel::updateLabels() {
+  // FrogPilot variables
+  FrogPilotUIState &fs = *frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+
   // add these back in case the files got removed
   fs_watch->addParam("LastUpdateTime");
   fs_watch->addParam("UpdateFailedCount");
@@ -111,6 +121,7 @@ void SoftwarePanel::updateLabels() {
   fs_watch->addParam("UpdateAvailable");
 
   if (!isVisible()) {
+    // FrogPilot variables
     return;
   }
 
@@ -124,6 +135,8 @@ void SoftwarePanel::updateLabels() {
   if (updater_state != "idle") {
     downloadBtn->setEnabled(false);
     downloadBtn->setValue(updater_state);
+
+    // FrogPilot variables
   } else {
     if (failed) {
       downloadBtn->setText(tr("CHECK"));
@@ -141,6 +154,8 @@ void SoftwarePanel::updateLabels() {
       downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate));
     }
     downloadBtn->setEnabled(true);
+
+    // FrogPilot variables
   }
   targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch")));
 
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index 0236e20f..ee0e9008 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -5,27 +5,36 @@
 
 #include "selfdrive/ui/qt/util.h"
 
-void OnroadAlerts::updateState(const UIState &s) {
+void OnroadAlerts::updateState(const UIState &s, const FrogPilotUIState &fs) {
   Alert a = getAlert(*(s.sm), s.scene.started_frame);
   if (!alert.equal(a)) {
     alert = a;
     update();
   }
+
+  // FrogPilot variables
 }
 
 void OnroadAlerts::clear() {
   alert = {};
   update();
+
+  // FrogPilot variables
+  alertHeight = 0;
 }
 
 OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame) {
   const cereal::SelfdriveState::Reader &ss = sm["selfdriveState"].getSelfdriveState();
   const uint64_t selfdrive_frame = sm.rcv_frame("selfdriveState");
 
+  // FrogPilot variables
+
   Alert a = {};
   if (selfdrive_frame >= started_frame) {  // Don't get old alert.
     a = {ss.getAlertText1().cStr(), ss.getAlertText2().cStr(),
          ss.getAlertType().cStr(), ss.getAlertSize(), ss.getAlertStatus()};
+
+    // FrogPilot variables
   }
 
   if (!sm.updated("selfdriveState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
@@ -56,6 +65,8 @@ OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started
 
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
   if (alert.size == cereal::SelfdriveState::AlertSize::NONE) {
+    // FrogPilot variables
+    alertHeight = 0;
     return;
   }
   static std::map<cereal::SelfdriveState::AlertSize, const int> alert_heights = {
@@ -63,7 +74,9 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
     {cereal::SelfdriveState::AlertSize::MID, 420},
     {cereal::SelfdriveState::AlertSize::FULL, height()},
   };
-  int h = alert_heights[alert.size];
+  // FrogPilot variables
+  alertHeight = alert_heights[alert.size];
+  int h = alertHeight;
 
   int margin = 40;
   int radius = 30;
@@ -71,6 +84,8 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
     margin = 0;
     radius = 0;
   }
+  // FrogPilot variables
+  alertHeight -= margin;
   QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
   QPainter p(this);
diff --git a/selfdrive/ui/qt/onroad/alerts.h b/selfdrive/ui/qt/onroad/alerts.h
index de38d8ff..e1837634 100644
--- a/selfdrive/ui/qt/onroad/alerts.h
+++ b/selfdrive/ui/qt/onroad/alerts.h
@@ -9,9 +9,12 @@ class OnroadAlerts : public QWidget {
 
 public:
   OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
-  void updateState(const UIState &s);
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
   void clear();
 
+  // FrogPilot variables
+  int alertHeight;
+
 protected:
   struct Alert {
     QString text1;
@@ -36,4 +39,6 @@ protected:
 
   QColor bg;
   Alert alert = {};
+
+  // FrogPilot variables
 };
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index f504ad69..d179d740 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -19,12 +19,21 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *par
 
   experimental_btn = new ExperimentalButton(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
+
+  // FrogPilot variables
 }
 
-void AnnotatedCameraWidget::updateState(const UIState &s) {
+void AnnotatedCameraWidget::updateState(const UIState &s, const FrogPilotUIState &fs) {
   // update engageability/experimental mode button
-  experimental_btn->updateState(s);
+  experimental_btn->updateState(s, fs);
   dmon.updateState(s);
+
+  // FrogPilot variables
+  const SubMaster &sm = *(s.sm);
+
+  const cereal::CarState::Reader &carState = sm["carState"].getCarState();
+
+  frogpilot_nvg->experimentalButtonPosition = QPoint(experimental_btn->x(), experimental_btn->y());
 }
 
 void AnnotatedCameraWidget::initializeGL() {
@@ -129,11 +138,22 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
+  // FrogPilot variables
+  dmon.frogpilot_nvg = frogpilot_nvg;
+  hud.frogpilot_nvg = frogpilot_nvg;
+  model.frogpilot_nvg = frogpilot_nvg;
+
+  experimental_btn->frogpilot_scene = frogpilot_scene;
+  model.frogpilot_scene = frogpilot_scene;
+
   model.draw(painter, rect());
   dmon.draw(painter, rect());
   hud.updateState(*s);
   hud.draw(painter, rect());
 
+  // FrogPilot variables
+  frogpilot_nvg->paintFrogPilotWidgets(painter, *s);
+
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;
   double fps = fps_filter.update(1. / dt * 1000);
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index d205579f..8953f4cc 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -8,12 +8,19 @@
 #include "selfdrive/ui/qt/onroad/model.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
+#include "frogpilot/ui/qt/onroad/frogpilot_buttons.h"
+
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
 
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
-  void updateState(const UIState &s);
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
+
+  // FrogPilot variables
+  FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
+
+  FrogPilotUIScene frogpilot_scene;
 
 private:
   QVBoxLayout *main_layout;
@@ -26,6 +33,8 @@ private:
   int skip_frame_count = 0;
   bool wide_cam_requested = false;
 
+  // FrogPilot variables
+
 protected:
   void paintGL() override;
   void initializeGL() override;
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 32e58c9d..45901634 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -22,17 +22,20 @@ ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(fals
   engage_img = loadPixmap("../assets/icons/chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/icons/experimental.svg", {img_size, img_size});
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+
+  // FrogPilot variables
 }
 
 void ExperimentalButton::changeMode() {
   const auto cp = (*uiState()->sm)["carParams"].getCarParams();
   bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
   if (can_change) {
+    // FrogPilot variables
     params.putBool("ExperimentalMode", !experimental_mode);
   }
 }
 
-void ExperimentalButton::updateState(const UIState &s) {
+void ExperimentalButton::updateState(const UIState &s, const FrogPilotUIState &fs) {
   const auto cs = (*s.sm)["selfdriveState"].getSelfdriveState();
   bool eng = cs.getEngageable() || cs.getEnabled();
   if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
@@ -40,6 +43,9 @@ void ExperimentalButton::updateState(const UIState &s) {
     experimental_mode = cs.getExperimentalMode();
     update();
   }
+
+  // FrogPilot variables
+  const cereal::CarState::Reader &carState = (*s.sm)["carState"].getCarState();
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
@@ -47,3 +53,7 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }
+
+// FrogPilot variables
+void ExperimentalButton::showEvent(QShowEvent *event) {
+}
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index 9c91bc3c..ec31c937 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -12,7 +12,10 @@ class ExperimentalButton : public QPushButton {
 
 public:
   explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s);
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
+
+  // FrogPilot variables
+  FrogPilotUIScene frogpilot_scene;
 
 private:
   void paintEvent(QPaintEvent *event) override;
@@ -23,6 +26,9 @@ private:
   QPixmap experimental_img;
   bool experimental_mode;
   bool engageable;
+
+  // FrogPilot variables
+  void showEvent(QShowEvent *event) override;
 };
 
 void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc
index 49f2c950..9cc4c66e 100644
--- a/selfdrive/ui/qt/onroad/driver_monitoring.cc
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc
@@ -73,6 +73,8 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   float y = surface_rect.height() - offset;
   float opacity = is_active ? 0.65f : 0.2f;
 
+  // FrogPilot variables
+
   drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity);
 
   QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)];
@@ -104,4 +106,11 @@ void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   painter.drawArc(QRectF(x - arc_l / 2, std::min(y + delta_y, y), arc_l, std::abs(delta_y)), (driver_pose_sins[0] > 0 ? 0 : 180) * 16, 180 * 16);
 
   painter.restore();
+
+  // FrogPilot variables
+  if (frogpilot_nvg) {
+    frogpilot_nvg->dmIconPosition.setX(x);
+    frogpilot_nvg->dmIconPosition.setY(y);
+    frogpilot_nvg->rightHandDM = is_rhd;
+  }
 }
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.h b/selfdrive/ui/qt/onroad/driver_monitoring.h
index 47db151c..6a27fabc 100644
--- a/selfdrive/ui/qt/onroad/driver_monitoring.h
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.h
@@ -4,12 +4,17 @@
 #include <QPainter>
 #include "selfdrive/ui/ui.h"
 
+#include "frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h"
+
 class DriverMonitorRenderer {
 public:
   DriverMonitorRenderer();
   void updateState(const UIState &s);
   void draw(QPainter &painter, const QRect &surface_rect);
 
+  // FrogPilot variables
+  FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
+
 private:
   float driver_pose_vals[3] = {};
   float driver_pose_diff[3] = {};
diff --git a/selfdrive/ui/qt/onroad/hud.cc b/selfdrive/ui/qt/onroad/hud.cc
index 4cfa3d0e..0ac34ef9 100644
--- a/selfdrive/ui/qt/onroad/hud.cc
+++ b/selfdrive/ui/qt/onroad/hud.cc
@@ -60,6 +60,9 @@ void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) {
   // Draw outer box + border to contain set speed
   const QSize default_size = {172, 204};
   QSize set_speed_size = is_metric ? QSize(200, 204) : default_size;
+
+  // FrogPilot variables
+
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
 
   // Draw set speed box
@@ -91,6 +94,12 @@ void HudRenderer::drawSetSpeed(QPainter &p, const QRect &surface_rect) {
   p.setFont(InterFont(90, QFont::Bold));
   p.setPen(set_speed_color);
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+
+  // FrogPilot variables
+  frogpilot_nvg->defaultSize = default_size;
+  frogpilot_nvg->isCruiseSet = is_cruise_set;
+  frogpilot_nvg->setSpeedRect = set_speed_rect;
+  frogpilot_nvg->speed = speed;
 }
 
 void HudRenderer::drawCurrentSpeed(QPainter &p, const QRect &surface_rect) {
diff --git a/selfdrive/ui/qt/onroad/hud.h b/selfdrive/ui/qt/onroad/hud.h
index b2ac379d..4457f24f 100644
--- a/selfdrive/ui/qt/onroad/hud.h
+++ b/selfdrive/ui/qt/onroad/hud.h
@@ -3,6 +3,8 @@
 #include <QPainter>
 #include "selfdrive/ui/ui.h"
 
+#include "frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h"
+
 class HudRenderer : public QObject {
   Q_OBJECT
 
@@ -11,6 +13,9 @@ public:
   void updateState(const UIState &s);
   void draw(QPainter &p, const QRect &surface_rect);
 
+  // FrogPilot variables
+  FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
+
 private:
   void drawSetSpeed(QPainter &p, const QRect &surface_rect);
   void drawCurrentSpeed(QPainter &p, const QRect &surface_rect);
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 52902abd..478da7a7 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -42,12 +42,18 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
     const auto &lead_two = radar_state.getLeadTwo();
     if (lead_one.getStatus()) {
       drawLead(painter, lead_one, lead_vertices[0], surface_rect);
-    }
+    } else {
+      // FrogPilot variables
     if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
       drawLead(painter, lead_two, lead_vertices[1], surface_rect);
     }
+
+    // FrogPilot variables
+    SubMaster &fpsm = *(frogpilotUIState()->sm);
   }
 
+  // FrogPilot variables
+
   painter.restore();
 }
 
@@ -88,7 +94,12 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
   max_idx = get_path_length_idx(model_position, max_distance);
+  // FrogPilot variables
   mapLineToPolygon(model_position, 0.9, path_offset_z, &track_vertices, max_idx, false);
+
+  // FrogPilot variables
+  FrogPilotUIState *fs = frogpilotUIState();
+  SubMaster &fpsm = *(fs->sm);
 }
 
 void ModelRenderer::drawLaneLines(QPainter &painter) {
@@ -140,6 +151,8 @@ void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reade
 
   painter.setBrush(bg);
   painter.drawPolygon(track_vertices);
+
+  // FrogPilot variables
 }
 
 void ModelRenderer::updatePathGradient(QLinearGradient &bg) {
@@ -217,6 +230,8 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
   QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
   painter.setBrush(QColor(201, 34, 49, fillAlpha));
   painter.drawPolygon(chevron, std::size(chevron));
+
+  // FrogPilot variables
 }
 
 // Projects a point in car to space to the corresponding point in full frame image space.
@@ -248,3 +263,5 @@ void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float
     }
   }
 }
+
+// FrogPilot variables
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 79547e4b..ddad6a13 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -5,12 +5,19 @@
 
 #include "selfdrive/ui/ui.h"
 
+#include "frogpilot/ui/qt/onroad/frogpilot_annotated_camera.h"
+
 class ModelRenderer {
 public:
   ModelRenderer() {}
   void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
   void draw(QPainter &painter, const QRect &surface_rect);
 
+  // FrogPilot variables
+  FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
+
+  FrogPilotUIScene frogpilot_scene;
+
 private:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
@@ -36,4 +43,6 @@ private:
   QPointF lead_vertices[2] = {};
   Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
   QRectF clip_region;
+
+  // FrogPilot variables
 };
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 080f9bd5..e9bcfb02 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -37,15 +37,27 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+
+  // FrogPilot variables
+  frogpilot_nvg = new FrogPilotAnnotatedCameraWidget(this);
+  frogpilot_onroad = new FrogPilotOnroadWindow(this);
+  frogpilot_onroad->setAttribute(Qt::WA_TransparentForMouseEvents, true);
+
+  stacked_layout->addWidget(frogpilot_nvg);
+  stacked_layout->addWidget(frogpilot_onroad);
+
+  frogpilot_onroad->raise();
+
+  nvg->frogpilot_nvg = frogpilot_nvg;
 }
 
-void OnroadWindow::updateState(const UIState &s) {
+void OnroadWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
   if (!s.scene.started) {
     return;
   }
 
-  alerts->updateState(s);
-  nvg->updateState(s);
+  alerts->updateState(s, fs);
+  nvg->updateState(s, fs);
 
   QColor bgColor = bg_colors[s.status];
   if (bg != bgColor) {
@@ -53,6 +65,24 @@ void OnroadWindow::updateState(const UIState &s) {
     bg = bgColor;
     update();
   }
+
+  // FrogPilot variables
+  const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+
+  frogpilot_nvg->alertHeight = alerts->alertHeight;
+
+  frogpilot_onroad->bg = bg;
+
+  nvg->frogpilot_nvg = frogpilot_nvg;
+
+  nvg->frogpilot_scene = frogpilot_scene;
+  frogpilot_nvg->frogpilot_scene = frogpilot_scene;
+  frogpilot_onroad->frogpilot_scene = frogpilot_scene;
+
+  frogpilot_onroad->setGeometry(rect());
+
+  frogpilot_nvg->updateState(s, fs);
+  frogpilot_onroad->updateState(s, fs);
 }
 
 void OnroadWindow::offroadTransition(bool offroad) {
@@ -63,3 +93,15 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
 }
+
+// FrogPilot variables
+void OnroadWindow::mousePressEvent(QMouseEvent* mouseEvent) {
+  frogpilot_nvg->mousePressEvent(mouseEvent);
+
+  if (mouseEvent->isAccepted()) {
+    return;
+  }
+
+  // propagation event to parent(HomeWindow)
+  QWidget::mousePressEvent(mouseEvent);
+}
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index c321d2d4..484ceaad 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -3,6 +3,8 @@
 #include "selfdrive/ui/qt/onroad/alerts.h"
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 
+#include "frogpilot/ui/qt/onroad/frogpilot_onroad.h"
+
 class OnroadWindow : public QWidget {
   Q_OBJECT
 
@@ -16,7 +18,13 @@ private:
   QColor bg = bg_colors[STATUS_DISENGAGED];
   QHBoxLayout* split;
 
+  // FrogPilot variables
+  void mousePressEvent(QMouseEvent* mouseEvent);
+
+  FrogPilotAnnotatedCameraWidget *frogpilot_nvg;
+  FrogPilotOnroadWindow *frogpilot_onroad;
+
 private slots:
   void offroadTransition(bool offroad);
-  void updateState(const UIState &s);
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
 };
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index e9c6a2f7..2d217d00 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -40,9 +40,15 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState);
 
   pm = std::make_unique<PubMaster>(std::vector<const char*>{"bookmarkButton"});
+
+  // FrogPilot variables
 }
 
 void Sidebar::mousePressEvent(QMouseEvent *event) {
+  // FrogPilot variables
+  FrogPilotUIState *fs = frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
+
   if (onroad && home_btn.contains(event->pos())) {
     flag_pressed = true;
     update();
@@ -76,9 +82,14 @@ void Sidebar::offroadTransition(bool offroad) {
   update();
 }
 
-void Sidebar::updateState(const UIState &s) {
+void Sidebar::updateState(const UIState &s, const FrogPilotUIState &fs) {
   if (!isVisible()) return;
 
+  // FrogPilot variables
+  const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+
+  const SubMaster &fpsm = *(fs.sm);
+
   auto &sm = *(s.sm);
 
   networking = networking ? networking : window()->findChild<Networking *>("");
@@ -115,6 +126,8 @@ void Sidebar::updateState(const UIState &s) {
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 
   setProperty("recordingAudio", s.scene.recording_audio);
+
+  // FrogPilot variables
 }
 
 void Sidebar::paintEvent(QPaintEvent *event) {
@@ -139,6 +152,10 @@ void Sidebar::paintEvent(QPaintEvent *event) {
   }
   p.setOpacity(1.0);
 
+  // FrogPilot variables
+  FrogPilotUIState *fs = frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
+
   // network
   int x = 58;
   const QColor gray(0x54, 0x54, 0x54);
@@ -163,3 +180,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
   drawMetric(p, panda_status.first, panda_status.second, 496);
   drawMetric(p, connect_status.first, connect_status.second, 654);
 }
+
+// FrogPilot variables
+void Sidebar::showEvent(QShowEvent *event) {
+}
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 6a2b7b69..24611786 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -20,6 +20,8 @@ class Sidebar : public QFrame {
   Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged);
   Q_PROPERTY(bool recordingAudio MEMBER recording_audio NOTIFY valueChanged);
 
+  // FrogPilot properties
+
 public:
   explicit Sidebar(QWidget* parent = 0);
 
@@ -29,7 +31,7 @@ signals:
 
 public slots:
   void offroadTransition(bool offroad);
-  void updateState(const UIState &s);
+  void updateState(const UIState &s, const FrogPilotUIState &fs);
 
 protected:
   void paintEvent(QPaintEvent *event) override;
@@ -60,7 +62,14 @@ protected:
   QString net_type;
   int net_strength = 0;
 
+  // FrogPilot variables
+
 private:
   std::unique_ptr<PubMaster> pm;
   Networking *networking = nullptr;
+
+  // FrogPilot variables
+  void showEvent(QShowEvent *event);
+
+  Params params;
 };
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index 3342de53..4dc094a2 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -67,6 +67,8 @@ public slots:
 signals:
   void showDescriptionEvent();
 
+  // FrogPilot variables
+
 protected:
   AbstractControl(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
   void hideEvent(QHideEvent *e) override;
@@ -132,6 +134,8 @@ public:
     toggle.update();
   }
 
+  // FrogPilot variables
+
 signals:
   void toggleFlipped(bool state);
 
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 0cbf1493..cec7c418 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -141,6 +141,8 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s
   QObject::connect(k, &Keyboard::emitEnter, this, &InputDialog::handleEnter);
   QObject::connect(k, &Keyboard::emitBackspace, this, [=]() {
     line->backspace();
+
+    // FrogPilot variables
   });
   QObject::connect(k, &Keyboard::emitKey, this, [=](const QString &key) {
     line->insert(key.left(1));
@@ -154,6 +156,9 @@ QString InputDialog::getText(const QString &prompt, QWidget *parent, const QStri
   InputDialog d(prompt, parent, subtitle, secret);
   d.line->setText(defaultText);
   d.setMinLength(minLength);
+
+  // FrogPilot variables
+
   const int ret = d.exec();
   return ret ? d.text() : QString();
 }
@@ -186,6 +191,8 @@ void InputDialog::setMinLength(int length) {
   minLength = length;
 }
 
+// FrogPilot variables
+
 // ConfirmationDialog
 
 ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text,
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index 089e54e4..2cbbe21a 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -33,6 +33,8 @@ public:
   void setMinLength(int length);
   void show();
 
+  // FrogPilot variables
+
 private:
   int minLength;
   QLineEdit *line;
@@ -42,6 +44,8 @@ private:
   QVBoxLayout *main_layout;
   QPushButton *eye_btn;
 
+  // FrogPilot variables
+
 private slots:
   void handleEnter();
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
index 26743952..83213d59 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -19,6 +19,7 @@ SshControl::SshControl() :
     } else {
       params.remove("GithubUsername");
       params.remove("GithubSshKeys");
+
       refresh();
     }
   });
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 6b579fcc..fd416b5b 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -79,6 +79,10 @@ void MainWindow::closeSettings() {
 }
 
 bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
+  // FrogPilot variables
+  FrogPilotUIState &fs = *frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+
   bool ignore = false;
   switch (event->type()) {
     case QEvent::TouchBegin:
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 05b61e1f..87e907f8 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -22,4 +22,6 @@ private:
   HomeWindow *homeWindow;
   SettingsWindow *settingsWindow;
   OnboardingWindow *onboardingWindow;
+
+  // FrogPilot variables
 };
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 704a6a59..c5797333 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -30,6 +30,8 @@ if HARDWARE.get_device_type() in ("tici", "tizi"):
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
+# FrogPilot variables
+
 
 sound_list: dict[int, tuple[str, int | None, float]] = {
   # AudibleAlert, file name, play count (none for infinite)
@@ -43,6 +45,8 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
 
   AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
   AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+
+  # FrogPilot variables
 }
 if HARDWARE.get_device_type() in ("tici", "tizi"):
   sound_list.update({
@@ -72,6 +76,9 @@ class Soundd:
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
+    # FrogPilot variables
+    self.update_frogpilot_sounds()
+
   def load_sounds(self):
     self.loaded_sounds: dict[int, np.ndarray] = {}
 
@@ -122,6 +129,9 @@ class Soundd:
   def get_audible_alert(self, sm):
     if sm.updated['selfdriveState']:
       new_alert = sm['selfdriveState'].alertSound.raw
+
+      # FrogPilot variables
+
       self.update_alert(new_alert)
     elif check_selfdrive_timeout_alert(sm):
       self.update_alert(AudibleAlert.warningImmediate)
@@ -147,6 +157,8 @@ class Soundd:
 
     sm = messaging.SubMaster(['selfdriveState', 'soundPressure'])
 
+    # FrogPilot variables
+
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
 
@@ -164,6 +176,10 @@ class Soundd:
 
         assert stream.active
 
+        # FrogPilot variables
+
+  def update_frogpilot_sounds(self):
+
 
 def main():
   s = Soundd()
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4f8bd7dd..4109a3b6 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -18,7 +18,7 @@ static void update_sockets(UIState *s) {
   s->sm->update(0);
 }
 
-static void update_state(UIState *s) {
+static void update_state(UIState *s, FrogPilotUIState *fs) {
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
 
@@ -63,6 +63,20 @@ static void update_state(UIState *s) {
 
   auto params = Params();
   scene.recording_audio = params.getBool("RecordAudio") && scene.started;
+
+  // FrogPilot variables
+  FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
+
+  if (sm.updated("carState")) {
+    const cereal::CarState::Reader &carState = sm["carState"].getCarState();
+    frogpilot_scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK;
+    frogpilot_scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
+    frogpilot_scene.standstill = carState.getStandstill() && !frogpilot_scene.reverse;
+  }
+
+  if (scene.started) {
+    frogpilot_scene.started_timer += 1;
+  }
 }
 
 void ui_update_params(UIState *s) {
@@ -70,15 +84,23 @@ void ui_update_params(UIState *s) {
   s->scene.is_metric = params.getBool("IsMetric");
 }
 
-void UIState::updateStatus() {
+void UIState::updateStatus(FrogPilotUIState *fs) {
+  // FrogPilot variables
+  FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
+
   if (scene.started && sm->updated("selfdriveState")) {
     auto ss = (*sm)["selfdriveState"].getSelfdriveState();
     auto state = ss.getState();
+
+    // FrogPilot variables
+
     if (state == cereal::SelfdriveState::OpenpilotState::PRE_ENABLED || state == cereal::SelfdriveState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
       status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
     }
+
+    // FrogPilot variables
   }
 
   if (engaged() != engaged_prev) {
@@ -94,6 +116,8 @@ void UIState::updateStatus() {
     }
     started_prev = scene.started;
     emit offroadTransition(!scene.started);
+
+    // FrogPilot variables
   }
 }
 
@@ -114,13 +138,19 @@ UIState::UIState(QObject *parent) : QObject(parent) {
 
 void UIState::update() {
   update_sockets(this);
-  update_state(this);
-  updateStatus();
+  update_state(this, frogpilotUIState());
+  updateStatus(frogpilotUIState());
 
   if (sm->frame % UI_FREQ == 0) {
     watchdog_kick(nanos_since_boot());
   }
-  emit uiUpdate(*this);
+  emit uiUpdate(*this, *frogpilotUIState());
+
+  // FrogPilot variables
+  FrogPilotUIState *fs = frogpilotUIState();
+  FrogPilotUIScene &frogpilot_scene = fs->frogpilot_scene;
+
+  fs->update();
 }
 
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
@@ -130,9 +160,9 @@ Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
 }
 
-void Device::update(const UIState &s) {
-  updateBrightness(s);
-  updateWakefulness(s);
+void Device::update(const UIState &s, const FrogPilotUIState &fs) {
+  updateBrightness(s, fs);
+  updateWakefulness(s, fs);
 }
 
 void Device::setAwake(bool on) {
@@ -147,11 +177,16 @@ void Device::setAwake(bool on) {
 void Device::resetInteractiveTimeout(int timeout) {
   if (timeout == -1) {
     timeout = (ignition_on ? 10 : 30);
+  } else {
+    // FrogPilot variables
   }
   interactive_timeout = timeout * UI_FREQ;
 }
 
-void Device::updateBrightness(const UIState &s) {
+void Device::updateBrightness(const UIState &s, const FrogPilotUIState &fs) {
+  // FrogPilot variables
+  const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+
   float clipped_brightness = offroad_brightness;
   if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
@@ -180,7 +215,10 @@ void Device::updateBrightness(const UIState &s) {
   }
 }
 
-void Device::updateWakefulness(const UIState &s) {
+void Device::updateWakefulness(const UIState &s, const FrogPilotUIState &fs) {
+  // FrogPilot variables
+  const FrogPilotUIScene &frogpilot_scene = fs.frogpilot_scene;
+
   bool ignition_just_turned_off = !s.scene.ignition && ignition_on;
   ignition_on = s.scene.ignition;
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index b3c482aa..b992d19a 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -15,6 +15,8 @@
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/prime_state.h"
 
+#include "frogpilot/ui/frogpilot_ui.h"
+
 const int UI_BORDER_SIZE = 30;
 const int UI_HEADER_HEIGHT = 420;
 
@@ -42,12 +44,18 @@ typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
   STATUS_ENGAGED,
+
+  // FrogPilot variables
+  STATUS_EXPERIMENTAL_MODE_ENABLED,
 } UIStatus;
 
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
+
+  // FrogPilot variables
+  [STATUS_EXPERIMENTAL_MODE_ENABLED] = QColor(0xda, 0x6f, 0x25, 0xf1),
 };
 
 typedef struct UIScene {
@@ -67,7 +75,7 @@ class UIState : public QObject {
 
 public:
   UIState(QObject* parent = 0);
-  void updateStatus();
+  void updateStatus(FrogPilotUIState *fs);
   inline bool engaged() const {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
@@ -79,7 +87,7 @@ public:
   PrimeState *prime_state;
 
 signals:
-  void uiUpdate(const UIState &s);
+  void uiUpdate(const UIState &s, const FrogPilotUIState &fs);
   void offroadTransition(bool offroad);
   void engagedChanged(bool engaged);
 
@@ -115,8 +123,8 @@ private:
   FirstOrderFilter brightness_filter;
   QFuture<void> brightness_future;
 
-  void updateBrightness(const UIState &s);
-  void updateWakefulness(const UIState &s);
+  void updateBrightness(const UIState &s, const FrogPilotUIState &fs);
+  void updateWakefulness(const UIState &s, const FrogPilotUIState &fs);
   void setAwake(bool on);
 
 signals:
@@ -125,7 +133,7 @@ signals:
 
 public slots:
   void resetInteractiveTimeout(int timeout = -1);
-  void update(const UIState &s);
+  void update(const UIState &s, const FrogPilotUIState &fs);
 };
 
 Device *device();
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 8ddc4da2..313f9a59 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -212,6 +212,8 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   fan_controller = None
 
+  # FrogPilot variables
+
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
 
@@ -292,6 +294,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if fan_controller is not None:
       msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
+    # FrogPilot variables
+
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
@@ -341,6 +345,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if started_ts is None:
       should_start = should_start and all(startup_conditions.values())
 
+    # FrogPilot variables
+
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsEngaged", False)
       engaged_prev = False
@@ -410,6 +416,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
+    # FrogPilot variables
+
     # Log to statsd
     statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
     statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
@@ -463,6 +471,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     count += 1
     should_start_prev = should_start
 
+    # FrogPilot variables
+
 
 def main():
   hw_queue = queue.Queue(maxsize=1)
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index d2083a59..f837a4fa 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -26,7 +26,14 @@ namespace Path {
     if (const char *env = getenv("LOG_ROOT")) {
       return env;
     }
-    return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata";
+
+    if (Hardware::PC()) {
+      return Path::comma_home() + "/media/0/realdata";
+    }
+
+    // FrogPilot variables
+
+    return "/data/media/0/realdata";
   }
 
   inline std::string params() {
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index e1c47c76..ece38d0c 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -27,3 +27,6 @@ def get_available_bytes(default: int) -> int:
     available_bytes = default
 
   return available_bytes
+
+
+# FrogPilot variables
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 5b6234e1..6f8fd9a5 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -248,6 +248,9 @@ def main(exit_event: threading.Event = None) -> None:
   uploader = Uploader(dongle_id, Paths.log_root())
 
   backoff = 0.1
+
+  # FrogPilot variables
+
   while not exit_event.is_set():
     sm.update(0)
     offroad = params.get_bool("IsOffroad")
@@ -268,6 +271,8 @@ def main(exit_event: threading.Event = None) -> None:
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 
+    # FrogPilot variables
+
 
 if __name__ == "__main__":
   main()
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 1d3c0cc7..5e701887 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -21,6 +21,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.frogpilot.common.frogpilot_functions import frogpilot_boot_functions, install_frogpilot, uninstall_frogpilot
+
 
 def manager_init() -> None:
   save_bootlog()
@@ -38,6 +40,8 @@ def manager_init() -> None:
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
+  # FrogPilot variables
+
   # set unset params to their default value
   for k in params.all_keys():
     default_value = params.get_default_value(k)
@@ -93,6 +97,10 @@ def manager_init() -> None:
   for p in managed_processes.values():
     p.prepare()
 
+  # FrogPilot variables
+  install_frogpilot()
+  frogpilot_boot_functions()
+
 
 def manager_cleanup() -> None:
   # send signals to kill all procs
@@ -129,6 +137,8 @@ def manager_thread() -> None:
   started_prev = False
   ignition_prev = False
 
+  # FrogPilot variables
+
   while True:
     sm.update(1000)
 
@@ -136,9 +146,13 @@ def manager_thread() -> None:
 
     if started and not started_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
+
+      # FrogPilot variables
     elif not started and started_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
 
+      # FrogPilot variables
+
     ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown)
     if ignition and not ignition_prev:
       params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
@@ -181,6 +195,8 @@ def manager_thread() -> None:
     if shutdown:
       break
 
+    # FrogPilot variables
+
 
 def main() -> None:
   manager_init()
@@ -201,7 +217,7 @@ def main() -> None:
   params = Params()
   if params.get_bool("DoUninstall"):
     cloudlog.warning("uninstalling")
-    HARDWARE.uninstall()
+    uninstall_frogpilot()
   elif params.get_bool("DoReboot"):
     cloudlog.warning("reboot")
     HARDWARE.reboot()
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 5bb9ee25..54efc45b 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -4,7 +4,7 @@ import platform
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC, TICI
+from openpilot.system.hardware import HARDWARE, PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -61,6 +61,8 @@ def or_(*fns):
 def and_(*fns):
   return lambda *args: operator.and_(*(fn(*args) for fn in fns))
 
+# FrogPilot variables
+
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
@@ -80,7 +82,6 @@ procs = [
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
@@ -115,4 +116,13 @@ procs = [
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 ]
 
+# FrogPilot variables
+if HARDWARE.get_device_type() == "mici":
+  procs.append(PythonProcess("ui", "selfdrive.ui.ui", always_run))
+elif TICI:
+  procs.append(NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=5)),
+procs += [
+  PythonProcess("frogpilot_process", "frogpilot.frogpilot_process", always_run),
+]
+
 managed_processes = {p.name: p for p in procs}
diff --git a/system/timed.py b/system/timed.py
index b7131b04..69851738 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -24,6 +24,9 @@ def set_time(new_time):
     cloudlog.exception("timed.failed_setting_time")
 
 
+# FrogPilot variables
+
+
 def main() -> NoReturn:
   """
     timed has two responsibilities:
@@ -38,6 +41,9 @@ def main() -> NoReturn:
 
   pm = messaging.PubMaster(['clocks'])
   sm = messaging.SubMaster([gps_location_service])
+
+  # FrogPilot variables
+
   while True:
     sm.update(1000)
 
@@ -56,6 +62,9 @@ def main() -> NoReturn:
       continue
 
     set_time(gps_time)
+
+    # FrogPilot variables
+
     time.sleep(10)
 
 if __name__ == "__main__":
diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 2a48b388..2d5e7037 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -27,6 +27,8 @@ FONT_SIZE = 96
 LINE_HEIGHT = 104
 DARKGRAY = (55, 55, 55, 255)
 
+# FrogPilot variables
+
 
 def clamp(value, min_value, max_value):
   return max(min(value, max_value), min_value)
diff --git a/system/updated/updated.py b/system/updated/updated.py
index a4a1f8f3..9b4b4198 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -410,6 +410,7 @@ class Updater:
     finalize_update()
     cloudlog.info("finalize success!")
 
+    # FrogPilot variables
 
 def main() -> None:
   params = Params()
@@ -449,9 +450,14 @@ def main() -> None:
 
     # Run the update loop
     first_run = True
+
+    # FrogPilot variables
+
     while True:
       wait_helper.ready_event.clear()
 
+      # FrogPilot variables
+
       # Attempt an update
       exception = None
       try: