fix: set jihulab.com as update source for pre branch

2026-02-20: init

.gitignore

@@ -13,13 +13,13 @@ venv/
 a.out
 .hypothesis
 .cache/
-bin/
+
+/docs_site/
 
 *.mp4
 *.dylib
 *.DSYM
 *.d
-*.pem
 *.pyc
 *.pyo
 .*.swp
@@ -39,13 +39,11 @@ bin/
 *.mo
 *_pyx.cpp
 *.stats
-*.pkl
-*.pkl*
 config.json
+clcache
 compile_commands.json
 compare_runtime*.html
 
-# build artifacts
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
@@ -58,34 +56,45 @@ system/camerad/test/ae_gray_test
 .coverage*
 coverage.xml
 htmlcov
+pandaextra
+
+.mypy_cache/
+flycheck_*
+
+cppcheck_report.txt
+comma*.sh
+
+selfdrive/modeld/models/*.pkl
 
 # openpilot log files
 *.bz2
 *.zst
-*.rlog
 
 build/
 
 !**/.gitkeep
 
+poetry.toml
+Pipfile
 
 ### VisualStudioCode ###
-*.vsix
-.history
-.ionide
 .vscode/*
-.history/
 !.vscode/settings.json
 !.vscode/tasks.json
 !.vscode/launch.json
 !.vscode/extensions.json
 !.vscode/*.code-snippets
 
-# agents
+# Local History for Visual Studio Code
-.claude/
+.history/
-.context/
+
-PLAN.md
+# Built Visual Studio Code Extensions
-TASK.md
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
 
 # rick - keep panda_tici standalone
 panda_tici/

BRANCHES.md

@@ -0,0 +1,91 @@
+```mermaid
+flowchart TD
+    B000["devel-staging"] ---> CORE["core"]
+    CORE ---> CORE_001["core-feat/params"]
+    CORE_001 ---> CORE_002["core-feat/panel"]
+    CORE_002 ---> CORE_003["core-feat/safety-ext"]
+    CORE_003 ---> MIN["min"]
+    MIN ---> MIN_001["min-feat/ui/display-mode"]
+    MIN ---> MIN_002["min-feat/dev/model-selector"]
+    MIN ---> MIN_003["min-feat/lat/lca"]
+    MIN ---> MIN_004["min-feat/dev/on-off-road"]
+    MIN ---> MIN_005["min-feat/ui/hide-hud"]
+    MIN ---> MIN_006["min-feat/lon/ext-radar"]
+    MIN ---> MIN_007["min-feat/lat/road-edge-detection"]
+    MIN ---> MIN_008["min-feat/ui/rainbow-path"]
+    MIN ---> MIN_009["min-feat/lon/acm"]
+    MIN ---> MIN_010["min-feat/lon/aem"]
+    MIN ---> MIN_011["min-feat/lon/dtsc"]
+    MIN ---> MIN_012["min-feat/lon/apm"]
+    MIN ---> MIN_013["min-feat/lon/dasr"]
+    MIN ---> MIN_014["min-feat/dev/alert-mode"]
+    MIN ---> MIN_015["min-feat/dev/auto-shutdown"]
+    MIN ---> MIN_016["min-feat/ui/lead-stats"]
+    MIN ---> MIN_017["min-feat/ui/border-indicator"]
+    MIN ---> MIN_018["min-feat/dev/delay-loggerd"]
+    MIN ---> MIN_019["min-feat/dev/disable-connect"]
+    MIN ---> MIN_020["min-feat/dev/tether-on-boot"]
+    MIN ---> MIN_021["min-feat/ui/torque-bar"]
+    MIN ---> MIN_022["min-feat/ui/mici-ui-mode"]
+    MIN ---> MIN_023["min-feat/lat/lat-offset"]
+    MIN_001 ---> FULL["full"]
+    MIN_002 ---> FULL
+    MIN_003 ---> FULL
+    MIN_004 ---> FULL
+    MIN_005 ---> FULL
+    MIN_006 ---> FULL
+    MIN_007 ---> FULL
+    MIN_008 ---> FULL
+    MIN_009 ---> FULL
+    MIN_010 ---> FULL
+    MIN_011 ---> FULL
+    MIN_012 ---> FULL
+    MIN_013 ---> FULL
+    MIN_014 ---> FULL
+    MIN_015 ---> FULL
+    MIN_016 ---> FULL
+    MIN_017 ---> FULL
+    MIN_018 ---> FULL
+    MIN_019 ---> FULL
+    MIN_020 ---> FULL
+    MIN_021 ---> FULL
+    FULL ---> TOYOTA_001[brand/toyota/safety-common]
+    FULL ---> TOYOTA_002[brand/toyota/door-auto-lock-unlock]
+    FULL ---> TOYOTA_003[brand/toyota/tss1-sng]
+    FULL ---> TOYOTA_004[brand/toyota/radar-filter]
+    FULL ---> TOYOTA_005[brand/toyota/sdsu]
+    FULL ---> TOYOTA_006[brand/toyota/dsu-bypass]
+    FULL ---> TOYOTA_007[brand/toyota/zss]
+    FULL ---> TOYOTA_008[brand/toyota/stock-lon]
+    FULL ---> VAG_001[brand/vag/a0-sng]
+    FULL ---> VAG_002[brand/vag/pq-steering-patch]
+    FULL ---> VAG_003[brand/vag/pq-no-dashcam]
+    FULL ---> VAG_004[brand/vag/avoid-eps-lockout]
+    FULL ---> HKG_001[brand/hkg/smdps]
+    FULL ---> HONDA_001[brand/honda/eps-mod]
+    FULL ---> HONDA_002[brand/honda/nidec-stock-long]
+    FULL ---> SUBARU_001[brand/subaru/torque-3071]
+    TOYOTA_001 ---> TOYOTA[pre-toyota]
+    TOYOTA_002 ---> TOYOTA
+    TOYOTA_003 ---> TOYOTA
+    TOYOTA_004 ---> TOYOTA
+    TOYOTA_005 ---> TOYOTA
+    TOYOTA_006 ---> TOYOTA
+    TOYOTA_007 ---> TOYOTA
+    TOYOTA_008 ---> TOYOTA
+    VAG_001 ---> VAG[pre-vag]
+    VAG_002 ---> VAG
+    VAG_003 ---> VAG
+    VAG_004 ---> VAG
+    HKG_001 ---> HKG[pre-hkg]
+    HONDA_001 ---> HONDA[pre-honda]
+    SUBARU_001 ---> SUBARU[pre-subaru]
+    TOYOTA ---> PRE[pre]
+    VAG ---> PRE
+    HKG ---> PRE
+    HONDA ---> PRE
+    SUBARU ---> PRE
+    PRE ---> PRE_PATCH[pre-patch]
+    PRE_PATCH ---> PREBUILD[pre-build]
+    PREBUILD ---> VERSION[x.x.x]
+```

Dockerfile.openpilot

@@ -1,38 +1,14 @@
-FROM ubuntu:24.04
+FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED=1
 
-ENV DEBIAN_FRONTEND=noninteractive
+ENV OPENPILOT_PATH=/home/batman/openpilot
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales && \
-    rm -rf /var/lib/apt/lists/*
 
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-ENV OPENPILOT_PATH=/home/$USER/openpilot
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY --chown=$USER . ${OPENPILOT_PATH}/
+COPY . ${OPENPILOT_PATH}/
 
-ENV UV_BIN="/home/$USER/.local/bin/"
+ENV UV_BIN="/home/batman/.local/bin/"
-ENV VIRTUAL_ENV=${OPENPILOT_PATH}/.venv
+ENV PATH="$UV_BIN:$PATH"
-ENV PATH="$UV_BIN:$VIRTUAL_ENV/bin:$PATH"
+RUN UV_PROJECT_ENVIRONMENT=$VIRTUAL_ENV uv run scons --cache-readonly -j$(nproc)
-RUN tools/setup_dependencies.sh && \
-    sudo rm -rf /var/lib/apt/lists/*
-
-USER root
-RUN git config --global --add safe.directory '*'

Dockerfile.openpilot_base

@@ -0,0 +1,81 @@
+FROM ubuntu:24.04
+
+ENV PYTHONUNBUFFERED=1
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
+RUN /tmp/tools/install_ubuntu_dependencies.sh && \
+    rm -rf /var/lib/apt/lists/* /tmp/* && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
+    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+
+RUN dbus-uuidgen > /etc/machine-id
+
+ARG USER=batman
+ARG USER_UID=1001
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+RUN usermod -aG sudo $USER
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER $USER
+
+COPY --chown=$USER pyproject.toml uv.lock /home/$USER
+COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
+
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+RUN cd /home/$USER && \
+    tools/install_python_dependencies.sh && \
+    rm -rf tools/ pyproject.toml uv.lock .cache
+
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-#export LOGPRINT=debug # this has gotten too spammy...
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -210,23 +210,30 @@ node {
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
+          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
       },
+      'loopback': {
+        deviceStage("loopback", "tizi-loopback", ["UNSAFE=1"], [
+          step("build openpilot", "cd system/manager && ./build.py"),
+          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+        ])
+      },
       'camerad OX03C10': {
         deviceStage("OX03C10", "tizi-ox03c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'camerad OS04C10': {
         deviceStage("OS04C10", "tici-os04c10", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"),
+          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 60]),
-          step("test camerad", "pytest system/camerad/test/test_camerad.py", [timeout: 90]),
+          step("test exposure", "pytest system/camerad/test/test_exposure.py"),
         ])
       },
       'sensord': {
@@ -244,9 +251,11 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           step("build openpilot", "cd system/manager && ./build.py"),
-          step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
+          step("test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          // TODO: enable once new AGNOS is available
+          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
           step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },

RELEASES.md

@@ -1,12 +1,3 @@
-Version 0.11.0 (2026-03-17)
-========================
-* New driving model #36798
-  * Fully trained using a learned simulator
-  * Improved longitudinal performance in Experimental mode
-* Reduce comma four standby power usage by 77% to 52 mW
-* Kia K7 2017 support thanks to royjr!
-* Lexus LS 2018 support thanks to Hacheoy!
-
 Version 0.10.3 (2025-12-17)
 ========================
 * New driving model #36249

SConstruct

@@ -4,7 +4,6 @@ import sys
 import sysconfig
 import platform
 import shlex
-import importlib
 import numpy as np
 
 import SCons.Errors
@@ -15,11 +14,11 @@ Decider('MD5-timestamp')
 
 SetOption('num_jobs', max(1, int(os.cpu_count()/2)))
 
+AddOption('--kaitai', action='store_true', help='Regenerate kaitai struct parsers')
 AddOption('--asan', action='store_true', help='turn on ASAN')
 AddOption('--ubsan', action='store_true', help='turn on UBSan')
 AddOption('--mutation', action='store_true', help='generate mutation-ready code')
 AddOption('--ccflags', action='store', type='string', default='', help='pass arbitrary flags over the command line')
-AddOption('--verbose', action='store_true', default=False, help='show full build commands')
 AddOption('--minimal',
           action='store_false',
           dest='extras',
@@ -30,6 +29,7 @@ AddOption('--minimal',
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
 elif arch == "aarch64" and os.path.isfile('/TICI'):
   arch = "larch64"
 assert arch in [
@@ -39,10 +39,6 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
-pkg_names = ['bzip2', 'capnproto', 'eigen', 'ffmpeg', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
-pkgs = [importlib.import_module(name) for name in pkg_names]
-py_include = importlib.import_module('python3_dev').INCLUDE_DIR
-
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
@@ -51,13 +47,15 @@ env = Environment(
     "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
     "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
   },
+  CC='clang',
+  CXX='clang++',
   CCFLAGS=[
     "-g",
     "-fPIC",
     "-O2",
     "-Wunused",
     "-Werror",
-    "-Wshadow" if arch in ("Darwin", "larch64") else "-Wshadow=local",
+    "-Wshadow",
     "-Wno-unknown-warning-option",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
@@ -76,16 +74,16 @@ env = Environment(
     "#third_party/acados/include/blasfeo/include",
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
-    [x.INCLUDE_DIR for x in pkgs],
+    "#third_party/libyuv/include",
   ],
   LIBPATH=[
     "#common",
     "#msgq_repo",
     "#third_party",
-    "#selfdrive/pandad_tici" if "TICI_DOS" in os.environ else "#selfdrive/pandad",
+    "#selfdrive/pandad",
     "#rednose/helpers",
+    f"#third_party/libyuv/{arch}/lib",
     f"#third_party/acados/{arch}/lib",
-    [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
@@ -97,8 +95,7 @@ env = Environment(
 
 # Arch-specific flags and paths
 if arch == "larch64":
-  env["CC"] = "clang"
+  env.Append(CPPPATH=["#third_party/opencl/include"])
-  env["CXX"] = "clang++"
   env.Append(LIBPATH=[
     "/usr/local/lib",
     "/system/vendor/lib64",
@@ -109,10 +106,17 @@ if arch == "larch64":
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
   env.Append(LIBPATH=[
+    f"{brew_prefix}/lib",
+    f"{brew_prefix}/opt/openssl@3.0/lib",
+    f"{brew_prefix}/opt/llvm/lib/c++",
     "/System/Library/Frameworks/OpenGL.framework/Libraries",
   ])
   env.Append(CCFLAGS=["-DGL_SILENCE_DEPRECATION"])
   env.Append(CXXFLAGS=["-DGL_SILENCE_DEPRECATION"])
+  env.Append(CPPPATH=[
+    f"{brew_prefix}/include",
+    f"{brew_prefix}/opt/openssl@3.0/include",
+  ])
 else:
   env.Append(LIBPATH=[
     "/usr/lib",
@@ -135,22 +139,6 @@ if _extra_cc:
 if arch != "Darwin":
   env.Append(LINKFLAGS=["-Wl,--as-needed", "-Wl,--no-undefined"])
 
-# Shorter build output: show brief descriptions instead of full commands.
-# Full command lines are still printed on failure by scons.
-if not GetOption('verbose'):
-  for action, short in (
-    ("CC",     "CC"),
-    ("CXX",    "CXX"),
-    ("LINK",   "LINK"),
-    ("SHCC",   "CC"),
-    ("SHCXX",  "CXX"),
-    ("SHLINK", "LINK"),
-    ("AR",     "AR"),
-    ("RANLIB", "RANLIB"),
-    ("AS",     "AS"),
-  ):
-    env[f"{action}COMSTR"] = f"  [{short}] $TARGET"
-
 # progress output
 node_interval = 5
 node_count = 0
@@ -162,9 +150,10 @@ if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
 # ********** Cython build environment **********
+py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-cpp", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
@@ -183,12 +172,6 @@ cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
-# dragonpilot settings generation — runs every scons invocation, idempotent.
-# Writes common/params_keys.h in place; we don't declare a target so scons
-# treats it purely as a pre-build side effect.
-if env.Execute('./generate_settings.py') != 0:
-  Exit('generate_settings.py failed')
-
 # ********** start building stuff **********
 
 # Build common module
@@ -220,6 +203,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
 
@@ -231,8 +215,10 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
-if Dir('#tools/cabana/').exists() and arch != "larch64":
+if Dir('#tools/cabana/').exists() and GetOption('extras'):
-  SConscript(['tools/cabana/SConscript'])
+  SConscript(['tools/replay/SConscript'])
+  if arch != "larch64":
+    SConscript(['tools/cabana/SConscript'])
 
 
 env.CompilationDatabase('compile_commands.json')

SPONSORS.md

@@ -0,0 +1,26 @@
+# Sponsors 贊助者
+
+我們誠摯感謝以下贊助者提供的硬體資源，讓專案能夠在多種平台上進行測試與驗證。
+
+We sincerely thank the following sponsors for providing hardware resources, which enable the project to be tested and validated across multiple platforms.
+
+---
+
+## 贊助者列表 Sponsors
+
+| 贊助者 Sponsor | 設備 Deices | 備註 Notes |
+| -------------- | ----------- | ---------- |
+| BlueGood | <ul><li>Radar Filter x 2</li><li>sDSU x1</li></ul> | - |
+| Chia Chun Lee | <ul><li>C3 Quick Mount x1</li></ul> | - |
+| CloudJ | <ul><li>C3X x1</li></ul> | - |
+| FareWay | <ul><li>EON Quick Mount x1</li><li>C2/C3 Quick Mount x1</li></ul> | Special thanks for fixing my good old EON |
+| Fred Wang | <ul><li>Oneplus 3t x1</li></ul> | - |
+| Saber Huang | <ul><li>O3L x1</li></ul> | - |
+| [馬威 Mr. One](https://shop61532546.taobao.com/) | <ul><li>O3 x 1</li><li>O3 (Dev) x1</li><li>O3XL x1</li><li>Red Panda x1</li><li>Panda Jungle v1 x1</li></ul> | - |
+| 門文梁 | <ul><li>C1.5 x1</li></ul> | - |
+
+---
+
+🙏 沒有你們的支持，我們無法讓專案在這麼多硬體平台上持續成長與驗證。
+
+Without your support, this project could not continue to grow and be validated across so many hardware platforms.

cereal/SConscript

@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
 
 socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
 

cereal/custom.capnp

@@ -24,19 +24,87 @@ struct ModelExt @0xf35cc4560bbf6ec2 {
   rightEdgeDetected @1 :Bool;
 }
 
-struct DashyState @0xda96579883444c35 {
+struct LiveGPS @0xda96579883444c35 {
+  # Position
+  latitude @0 :Float64;                # degrees
+  longitude @1 :Float64;               # degrees
+  altitude @2 :Float64;                # meters (WGS84)
+
+  # Motion
+  speed @3 :Float32;                   # m/s (horizontal speed)
+  bearingDeg @4 :Float32;              # degrees (heading)
+
+  # Accuracy
+  horizontalAccuracy @5 :Float32;      # meters
+  verticalAccuracy @6 :Float32;        # meters
+
+  # Status
+  gpsOK @7 :Bool;                      # livePose valid + GPS fresh
+  status @8 :Status;
+
+  enum Status {
+    uninitialized @0;    # no GPS data yet
+    uncalibrated @1;     # has GPS but fusion not ready (raw passthrough)
+    valid @2;            # fusion active with calibrated bearing
+  }
+
+  # Metadata
+  unixTimestampMillis @9 :Int64;
+  lastGpsTimestamp @10 :UInt64;        # logMonoTime of last GPS
+
+  # livePose health (for debugging fusion issues)
+  livePoseOk @11 :Bool;                # livePose valid and providing orientation/velocity
+}
+
+struct MaaControl @0x80ae746ee2596b11 {
+  # Map-Aware Assist control signals
+
+  # Curvature data (for lateral control)
+  curvature @0 :Float32;           # current nav curvature (1/m)
+  curvatureValid @1 :Bool;         # curvature data is valid
+
+  # Turn speed data (for longitudinal control)
+  turnSpeedLimit @2 :Float32;      # target speed for turn (m/s)
+  turnDistance @3 :Float32;        # distance to turn (m)
+  turnDirection @4 :TurnDirection;
+  turnValid @5 :Bool;              # turn data is valid
+  maneuverType @6 :ManeuverType;   # type of maneuver (turn vs lane change)
+  turnAngle @7 :Float32;           # expected turn angle in degrees (positive=left, negative=right)
+  turnCurvature @8 :Float32;       # curvature at turn point (1/m), used for speed limit calc
+
+  # Turn execution (heading-based tracking)
+  desireActive @9 :Bool;           # true when turn desire should be sent to model
+  turnState @10 :UInt8;            # TurnState enum: 0=none, 1=approaching, 2=executing, 3=complete
+  turnProgress @11 :Float32;       # accumulated heading change during turn (degrees)
+
+  # Driver acknowledgment (blinker = commit to turn)
+  driverAcknowledged @12 :Bool;    # driver turned on blinker matching turn direction
+  speedLimitActive @13 :Bool;      # turn speed limit should be enforced (blinker on)
+  blockLaneChange @14 :Bool;       # within commit distance, block lane change desire
+
+  enum TurnDirection {
+    none @0;
+    left @1;
+    right @2;
+  }
+
+  enum ManeuverType {
+    none @0;
+    turn @1;        # intersection turn - use turnLeft/Right desire
+    laneChange @2;  # highway exit/fork - use laneChangeLeft/Right desire
+  }
+}
+
+struct DashyState @0xa5cd762cd951a455 {
   # Pre-serialized JSON bytes for dashy UI
   # Aggregates all topics needed by dashy into single message
   json @0 :Data;
 }
 
-struct CustomReserved4 @0x80ae746ee2596b11 {
+struct NavInstructionExt @0xf98d843bfd7004a3 {
-}
+  # Extension fields for NavInstruction (not in upstream)
-
+  turnAngle @0 :Float32;      # degrees, positive=left, negative=right
-struct CustomReserved5 @0xa5cd762cd951a455 {
+  turnCurvature @1 :Float32;  # 1/m, positive=left, negative=right
-}
-
-struct CustomReserved6 @0xf98d843bfd7004a3 {
 }
 
 struct CustomReserved7 @0xb86e6369214c01c8 {

cereal/log.capnp

@@ -87,7 +87,6 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
-    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -499,8 +498,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
-  gnssTempC @48 :Float32;
+  caseTempC @48 :Float32;
-  bottomSocTempC @50 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
@@ -593,7 +591,6 @@ struct PandaState @0xa7649e2575e4591e {
   harnessStatus @21 :HarnessStatus;
   sbu1Voltage @35 :Float32;
   sbu2Voltage @36 :Float32;
-  soundOutputLevel @37 :UInt16;
 
   # can health
   canState0 @29 :PandaCanState;
@@ -1480,11 +1477,6 @@ struct ProcLog {
 
     cmdline @15 :List(Text);
     exe @16 :Text;
-
-    # from /proc/<pid>/smaps_rollup (proportional/private memory)
-    memPss @17 :UInt64;        # Pss — shared pages split by mapper count
-    memPssAnon @18 :UInt64;    # Pss_Anon — private anonymous (heap, stack)
-    memPssShmem @19 :UInt64;   # Pss_Shmem — proportional MSGQ/tmpfs share
   }
 
   struct CPUTimes {
@@ -2636,10 +2628,10 @@ struct Event {
     controlsStateExt @107 :Custom.ControlsStateExt;
     carStateExt @108 :Custom.CarStateExt;
     modelExt @109 :Custom.ModelExt;
-    dashyState @110 :Custom.DashyState;
+    liveGPS @110 :Custom.LiveGPS;
-    customReserved4 @111 :Custom.CustomReserved4;
+    maaControl @111 :Custom.MaaControl;
-    customReserved5 @112 :Custom.CustomReserved5;
+    dashyState @112 :Custom.DashyState;
-    customReserved6 @113 :Custom.CustomReserved6;
+    navInstructionExt @113 :Custom.NavInstructionExt;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;

cereal/messaging/__init__.py

@@ -1,8 +1,10 @@
 # must be built with scons
-from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
+from msgq import fake_event_handle, drain_sock_raw
 import msgq
+
 import os
 import capnp
 import time
@@ -11,7 +13,7 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 

cereal/messaging/bridge.cc

@@ -25,16 +25,15 @@ void msgq_to_zmq(const std::vector<std::string> &endpoints, const std::string &i
 }
 
 void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &ip) {
-  auto poller = std::make_unique<BridgeZmqPoller>();
+  auto poller = std::make_unique<ZMQPoller>();
-  auto pub_context = std::make_unique<Context>();
+  auto pub_context = std::make_unique<MSGQContext>();
-  auto sub_context = std::make_unique<BridgeZmqContext>();
+  auto sub_context = std::make_unique<ZMQContext>();
-  std::map<BridgeZmqSubSocket *, PubSocket *> sub2pub;
+  std::map<SubSocket *, PubSocket *> sub2pub;
 
   for (auto endpoint : endpoints) {
-    auto pub_sock = new PubSocket();
+    auto pub_sock = new MSGQPubSocket();
-    auto sub_sock = new BridgeZmqSubSocket();
+    auto sub_sock = new ZMQSubSocket();
-    size_t queue_size = services.at(endpoint).queue_size;
+    pub_sock->connect(pub_context.get(), endpoint);
-    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);

cereal/messaging/bridge_zmq.cc

@@ -1,170 +0,0 @@
-#include "cereal/messaging/bridge_zmq.h"
-
-#include <cassert>
-#include <cstring>
-#include <unistd.h>
-
-static size_t fnv1a_hash(const std::string &str) {
-  const size_t fnv_prime = 0x100000001b3;
-  size_t hash_value = 0xcbf29ce484222325;
-  for (char c : str) {
-    hash_value ^= (unsigned char)c;
-    hash_value *= fnv_prime;
-  }
-  return hash_value;
-}
-
-// FIXME: This is a hack to get the port number from the socket name, might have collisions.
-static int get_port(std::string endpoint) {
-  size_t hash_value = fnv1a_hash(endpoint);
-  int start_port = 8023;
-  int max_port = 65535;
-  return start_port + (hash_value % (max_port - start_port));
-}
-
-BridgeZmqContext::BridgeZmqContext() {
-  context = zmq_ctx_new();
-}
-
-BridgeZmqContext::~BridgeZmqContext() {
-  if (context != nullptr) {
-    zmq_ctx_term(context);
-  }
-}
-
-void BridgeZmqMessage::init(size_t sz) {
-  size = sz;
-  data = new char[size];
-}
-
-void BridgeZmqMessage::init(char *d, size_t sz) {
-  size = sz;
-  data = new char[size];
-  memcpy(data, d, size);
-}
-
-void BridgeZmqMessage::close() {
-  if (size > 0) {
-    delete[] data;
-  }
-  data = nullptr;
-  size = 0;
-}
-
-BridgeZmqMessage::~BridgeZmqMessage() {
-  close();
-}
-
-int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
-  sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
-  if (sock == nullptr) {
-    return -1;
-  }
-
-  zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
-
-  if (conflate) {
-    int arg = 1;
-    zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
-  }
-
-  int reconnect_ivl = 500;
-  zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
-
-  full_endpoint = "tcp://" + address + ":";
-  if (check_endpoint) {
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  return zmq_connect(sock, full_endpoint.c_str());
-}
-
-void BridgeZmqSubSocket::setTimeout(int timeout) {
-  zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
-}
-
-Message *BridgeZmqSubSocket::receive(bool non_blocking) {
-  zmq_msg_t msg;
-  assert(zmq_msg_init(&msg) == 0);
-
-  int flags = non_blocking ? ZMQ_DONTWAIT : 0;
-  int rc = zmq_msg_recv(&msg, sock, flags);
-
-  Message *ret = nullptr;
-  if (rc >= 0) {
-    ret = new BridgeZmqMessage;
-    ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
-  }
-
-  zmq_msg_close(&msg);
-  return ret;
-}
-
-BridgeZmqSubSocket::~BridgeZmqSubSocket() {
-  if (sock != nullptr) {
-    zmq_close(sock);
-  }
-}
-
-int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
-  sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
-  if (sock == nullptr) {
-    return -1;
-  }
-
-  full_endpoint = "tcp://*:";
-  if (check_endpoint) {
-    full_endpoint += std::to_string(get_port(endpoint));
-  } else {
-    full_endpoint += endpoint;
-  }
-
-  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
-  pid = getpid();
-
-  return zmq_bind(sock, full_endpoint.c_str());
-}
-
-int BridgeZmqPubSocket::sendMessage(Message *message) {
-  assert(pid == getpid());
-  return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
-}
-
-int BridgeZmqPubSocket::send(char *data, size_t size) {
-  assert(pid == getpid());
-  return zmq_send(sock, data, size, ZMQ_DONTWAIT);
-}
-
-BridgeZmqPubSocket::~BridgeZmqPubSocket() {
-  if (sock != nullptr) {
-    zmq_close(sock);
-  }
-}
-
-void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
-  assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
-  polls[num_polls].socket = socket->getRawSocket();
-  polls[num_polls].events = ZMQ_POLLIN;
-
-  sockets.push_back(socket);
-  num_polls++;
-}
-
-std::vector<BridgeZmqSubSocket *> BridgeZmqPoller::poll(int timeout) {
-  std::vector<BridgeZmqSubSocket *> ret;
-
-  int rc = zmq_poll(polls, num_polls, timeout);
-  if (rc < 0) {
-    return ret;
-  }
-
-  for (size_t i = 0; i < num_polls; i++) {
-    if (polls[i].revents) {
-      ret.push_back(sockets[i]);
-    }
-  }
-
-  return ret;
-}

cereal/messaging/bridge_zmq.h

@@ -1,72 +0,0 @@
-#pragma once
-
-#include <cstddef>
-#include <string>
-#include <vector>
-
-#include <zmq.h>
-
-#include "msgq/ipc.h"
-
-class BridgeZmqContext {
-public:
-  BridgeZmqContext();
-  void *getRawContext() { return context; }
-  ~BridgeZmqContext();
-
-private:
-  void *context = nullptr;
-};
-
-class BridgeZmqMessage : public Message {
-public:
-  void init(size_t size);
-  void init(char *data, size_t size);
-  void close();
-  size_t getSize() { return size; }
-  char *getData() { return data; }
-  ~BridgeZmqMessage();
-
-private:
-  char *data = nullptr;
-  size_t size = 0;
-};
-
-class BridgeZmqSubSocket {
-public:
-  int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true);
-  void setTimeout(int timeout);
-  Message *receive(bool non_blocking = false);
-  void *getRawSocket() { return sock; }
-  ~BridgeZmqSubSocket();
-
-private:
-  void *sock = nullptr;
-  std::string full_endpoint;
-};
-
-class BridgeZmqPubSocket {
-public:
-  int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true);
-  int sendMessage(Message *message);
-  int send(char *data, size_t size);
-  void *getRawSocket() { return sock; }
-  ~BridgeZmqPubSocket();
-
-private:
-  void *sock = nullptr;
-  std::string full_endpoint;
-  int pid = -1;
-};
-
-class BridgeZmqPoller {
-public:
-  void registerSocket(BridgeZmqSubSocket *socket);
-  std::vector<BridgeZmqSubSocket *> poll(int timeout);
-
-private:
-  static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128;
-  std::vector<BridgeZmqSubSocket *> sockets;
-  zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {};
-  size_t num_polls = 0;
-};

cereal/messaging/msgq_to_zmq.cc

@@ -2,7 +2,6 @@
 
 #include <cassert>
 
-#include "cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -22,14 +21,14 @@ static std::string recv_zmq_msg(void *sock) {
 }
 
 void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string &ip) {
-  zmq_context = std::make_unique<BridgeZmqContext>();
+  zmq_context = std::make_unique<ZMQContext>();
-  msgq_context = std::make_unique<Context>();
+  msgq_context = std::make_unique<MSGQContext>();
 
   // Create ZMQPubSockets for each endpoint
   for (const auto &endpoint : endpoints) {
     auto &socket_pair = socket_pairs.emplace_back();
     socket_pair.endpoint = endpoint;
-    socket_pair.pub_sock = std::make_unique<BridgeZmqPubSocket>();
+    socket_pair.pub_sock = std::make_unique<ZMQPubSocket>();
     int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint);
     if (ret != 0) {
       printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno()));
@@ -49,7 +48,7 @@ void MsgqToZmq::run(const std::vector<std::string> &endpoints, const std::string
 
       for (auto sub_sock : msgq_poller->poll(100)) {
         // Process messages for each socket
-        BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock);
+        ZMQPubSocket *pub_sock = sub2pub.at(sub_sock);
         for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) {
           auto msg = std::unique_ptr<Message>(sub_sock->receive(true));
           if (!msg) break;
@@ -72,7 +71,7 @@ void MsgqToZmq::zmqMonitorThread() {
   // Set up ZMQ monitor for each pub socket
   for (int i = 0; i < socket_pairs.size(); ++i) {
     std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i);
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED);
 
     void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR);
     zmq_connect(monitor_socket, addr.c_str());
@@ -109,8 +108,7 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            size_t queue_size = services.at(pair.endpoint).queue_size;
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }
@@ -130,7 +128,7 @@ void MsgqToZmq::zmqMonitorThread() {
 
   // Clean up monitor sockets
   for (int i = 0; i < pollitems.size(); ++i) {
-    zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0);
+    zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0);
     zmq_close(pollitems[i].socket);
   }
   cv.notify_one();

cereal/messaging/msgq_to_zmq.h

@@ -7,8 +7,9 @@
 #include <string>
 #include <vector>
 
+#define private public
 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "msgq/impl_zmq.h"
 
 class MsgqToZmq {
 public:
@@ -21,16 +22,16 @@ protected:
 
   struct SocketPair {
     std::string endpoint;
-    std::unique_ptr<BridgeZmqPubSocket> pub_sock;
+    std::unique_ptr<ZMQPubSocket> pub_sock;
     std::unique_ptr<MSGQSubSocket> sub_sock;
     int connected_clients = 0;
   };
 
-  std::unique_ptr<Context> msgq_context;
+  std::unique_ptr<MSGQContext> msgq_context;
-  std::unique_ptr<BridgeZmqContext> zmq_context;
+  std::unique_ptr<ZMQContext> zmq_context;
   std::mutex mutex;
   std::condition_variable cv;
   std::unique_ptr<MSGQPoller> msgq_poller;
-  std::map<SubSocket *, BridgeZmqPubSocket *> sub2pub;
+  std::map<SubSocket *, ZMQPubSocket *> sub2pub;
   std::vector<SocketPair> socket_pairs;
 };

cereal/messaging/tests/test_messaging.py

@@ -5,7 +5,7 @@ import numbers
 import random
 import threading
 import time
-from openpilot.common.parameterized import parameterized
+from parameterized import parameterized
 import pytest
 
 from cereal import log, car

cereal/messaging/tests/test_services.py

@@ -1,7 +1,7 @@
 import os
 import tempfile
 from typing import Dict
-from openpilot.common.parameterized import parameterized
+from parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST

cereal/services.py

@@ -75,7 +75,7 @@ _services: dict[str, tuple] = {
   "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
-  "navInstruction": (True, 1., 10),
+  # "navInstruction": (True, 1., 10), # dp - make it 0 hz
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
   "qRoadEncodeIdx": (False, 20.),
@@ -105,6 +105,11 @@ _services: dict[str, tuple] = {
   "controlsStateExt": (True, 100.),
   "carStateExt": (True, 100.),
   "modelExt": (True, 20.),
+  # dashy
+  "navInstruction": (True, 0.),
+  "navInstructionExt": (True, 0.),
+  "liveGPS": (True, 0.),       # GPS fusion from gpsd (optional)
+  "maaControl": (True, 0.),    # Map-Aware Assist control signals (optional)
   "dashyState": (True, 0.),    # Aggregated dashy UI state (optional)
 }
 SERVICE_LIST = {name: Service(*vals) for

common/.gitignore

@@ -0,0 +1 @@
+*.cpp

common/SConscript

@@ -5,6 +5,7 @@ common_libs = [
   'swaglog.cc',
   'util.cc',
   'ratekeeper.cc',
+  'clutil.cc',
 ]
 
 _common = env.Library('common', common_libs, LIBS="json11")
@@ -18,6 +19,11 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-common_python = [params_python]
+SConscript([
+  'transformations/SConscript',
+])
+
+Import('transformations_python')
+common_python = [params_python, transformations_python]
 
 Export('common_python')

common/clutil.cc

@@ -0,0 +1,98 @@
+#include "common/clutil.h"
+
+#include <cassert>
+#include <iostream>
+#include <memory>
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+namespace {  // helper functions
+
+template <typename Func, typename Id, typename Name>
+std::string get_info(Func get_info_func, Id id, Name param_name) {
+  size_t size = 0;
+  CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
+  std::string info(size, '\0');
+  CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
+  return info;
+}
+inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
+inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
+
+void cl_print_info(cl_platform_id platform, cl_device_id device) {
+  size_t work_group_size = 0;
+  cl_device_type device_type = 0;
+  clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
+  clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
+  const char *type_str = "Other...";
+  switch (device_type) {
+    case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
+    case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
+    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
+  }
+
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
+}
+
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+  cl_build_status status;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+  size_t log_size;
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+  std::string log(log_size, '\0');
+  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
+}
+
+}  // namespace
+
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+  cl_uint num_platforms = 0;
+  CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
+  std::unique_ptr<cl_platform_id[]> platform_ids = std::make_unique<cl_platform_id[]>(num_platforms);
+  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
+
+  for (size_t i = 0; i < num_platforms; ++i) {
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
+    // Get first device
+    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
+      cl_print_info(platform_ids[i], device_id);
+      return device_id;
+    }
+  }
+  LOGE("No valid openCL platform found");
+  assert(0);
+  return nullptr;
+}
+
+cl_context cl_create_context(cl_device_id device_id) {
+  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
+void cl_release_context(cl_context context) {
+  clReleaseContext(context);
+}
+
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+  return cl_program_from_source(ctx, device_id, util::read_file(path), args);
+}
+
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
+  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, device_id);
+    assert(0);
+  }
+  return prg;
+}

common/clutil.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+#include <string>
+
+#define CL_CHECK(_expr)          \
+  do {                           \
+    assert(CL_SUCCESS == (_expr)); \
+  } while (0)
+
+#define CL_CHECK_ERR(_expr)           \
+  ({                                  \
+    cl_int err = CL_INVALID_VALUE;    \
+    __typeof__(_expr) _ret = _expr;   \
+    assert(_ret&& err == CL_SUCCESS); \
+    _ret;                             \
+  })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);

common/file_chunker.py

@@ -1,37 +0,0 @@
-import math
-import os
-from pathlib import Path
-
-CHUNK_SIZE = 45 * 1024 * 1024  # 45MB, under GitHub's 50MB limit
-
-def get_chunk_name(name, idx, num_chunks):
-  return f"{name}.chunk{idx+1:02d}of{num_chunks:02d}"
-
-def get_manifest_path(name):
-  return f"{name}.chunkmanifest"
-
-def get_chunk_paths(path, file_size):
-  num_chunks = math.ceil(file_size / CHUNK_SIZE)
-  return [get_manifest_path(path)] + [get_chunk_name(path, i, num_chunks) for i in range(num_chunks)]
-
-def chunk_file(path, targets):
-  manifest_path, *chunk_paths = targets
-  with open(path, 'rb') as f:
-    data = f.read()
-  actual_num_chunks = max(1, math.ceil(len(data) / CHUNK_SIZE))
-  assert len(chunk_paths) >= actual_num_chunks, f"Allowed {len(chunk_paths)} chunks but needs at least {actual_num_chunks}, for path {path}"
-  for i, chunk_path in enumerate(chunk_paths):
-    with open(chunk_path, 'wb') as f:
-      f.write(data[i * CHUNK_SIZE:(i + 1) * CHUNK_SIZE])
-  Path(manifest_path).write_text(str(len(chunk_paths)))
-  os.remove(path)
-
-
-def read_file_chunked(path):
-  manifest_path = get_manifest_path(path)
-  if os.path.isfile(manifest_path):
-    num_chunks = int(Path(manifest_path).read_text().strip())
-    return b''.join(Path(get_chunk_name(path, i, num_chunks)).read_bytes() for i in range(num_chunks))
-  if os.path.isfile(path):
-    return Path(path).read_bytes()
-  raise FileNotFoundError(path)

common/filter_simple.py

@@ -28,7 +28,7 @@ class BounceFilter(FirstOrderFilter):
     scale = self.dt / (1.0 / 60.0)  # tuned at 60 fps
     self.velocity.x += (x - self.x) * self.bounce * scale * self.dt
     self.velocity.update(0.0)
-    if abs(self.velocity.x) < 1e-3:
+    if abs(self.velocity.x) < 1e-5:
       self.velocity.x = 0.0
     self.x += self.velocity.x
     return self.x

common/git.py

@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str | None = None) -> str:
+def get_short_branch(cwd: str = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str | None = None) -> str:
+def get_branch(cwd: str = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str | None = None) -> str:
+def get_origin(cwd: str = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str | None = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str | None = None) -> str:
+def get_normalized_origin(cwd: str = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/i2c.py

@@ -1,81 +0,0 @@
-import os
-import fcntl
-import ctypes
-
-# I2C constants from /usr/include/linux/i2c-dev.h
-I2C_SLAVE = 0x0703
-I2C_SLAVE_FORCE = 0x0706
-I2C_SMBUS = 0x0720
-
-# SMBus transfer types
-I2C_SMBUS_READ = 1
-I2C_SMBUS_WRITE = 0
-I2C_SMBUS_BYTE_DATA = 2
-I2C_SMBUS_I2C_BLOCK_DATA = 8
-
-I2C_SMBUS_BLOCK_MAX = 32
-
-
-class _I2cSmbusData(ctypes.Union):
-  _fields_ = [
-    ("byte", ctypes.c_uint8),
-    ("word", ctypes.c_uint16),
-    ("block", ctypes.c_uint8 * (I2C_SMBUS_BLOCK_MAX + 2)),
-  ]
-
-
-class _I2cSmbusIoctlData(ctypes.Structure):
-  _fields_ = [
-    ("read_write", ctypes.c_uint8),
-    ("command", ctypes.c_uint8),
-    ("size", ctypes.c_uint32),
-    ("data", ctypes.POINTER(_I2cSmbusData)),
-  ]
-
-
-class SMBus:
-  def __init__(self, bus: int):
-    self._fd = os.open(f'/dev/i2c-{bus}', os.O_RDWR)
-
-  def __enter__(self) -> 'SMBus':
-    return self
-
-  def __exit__(self, *args) -> None:
-    self.close()
-
-  def close(self) -> None:
-    if hasattr(self, '_fd') and self._fd >= 0:
-      os.close(self._fd)
-      self._fd = -1
-
-  def _set_address(self, addr: int, force: bool = False) -> None:
-    ioctl_arg = I2C_SLAVE_FORCE if force else I2C_SLAVE
-    fcntl.ioctl(self._fd, ioctl_arg, addr)
-
-  def _smbus_access(self, read_write: int, command: int, size: int, data: _I2cSmbusData) -> None:
-    ioctl_data = _I2cSmbusIoctlData(read_write, command, size, ctypes.pointer(data))
-    fcntl.ioctl(self._fd, I2C_SMBUS, ioctl_data)
-
-  def read_byte_data(self, addr: int, register: int, force: bool = False) -> int:
-    self._set_address(addr, force)
-    data = _I2cSmbusData()
-    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_BYTE_DATA, data)
-    return int(data.byte)
-
-  def write_byte_data(self, addr: int, register: int, value: int, force: bool = False) -> None:
-    self._set_address(addr, force)
-    data = _I2cSmbusData()
-    data.byte = value & 0xFF
-    self._smbus_access(I2C_SMBUS_WRITE, register, I2C_SMBUS_BYTE_DATA, data)
-
-  def read_i2c_block_data(self, addr: int, register: int, length: int, force: bool = False) -> list[int]:
-    self._set_address(addr, force)
-    if not (0 <= length <= I2C_SMBUS_BLOCK_MAX):
-      raise ValueError(f"length must be 0..{I2C_SMBUS_BLOCK_MAX}")
-
-    data = _I2cSmbusData()
-    data.block[0] = length
-    self._smbus_access(I2C_SMBUS_READ, register, I2C_SMBUS_I2C_BLOCK_DATA, data)
-    read_len = int(data.block[0]) or length
-    read_len = min(read_len, length)
-    return [int(b) for b in data.block[1 : read_len + 1]]

common/mat.h

@@ -0,0 +1,85 @@
+#pragma once
+
+typedef struct vec3 {
+  float v[3];
+} vec3;
+
+typedef struct vec4 {
+  float v[4];
+} vec4;
+
+typedef struct mat3 {
+  float v[3*3];
+} mat3;
+
+typedef struct mat4 {
+  float v[4*4];
+} mat4;
+
+static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
+  mat3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      float v = 0.0;
+      for (int k=0; k<3; k++) {
+        v += a.v[r*3+k] * b.v[k*3+c];
+      }
+      ret.v[r*3+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
+  vec3 ret = {{0.0}};
+  for (int r=0; r<3; r++) {
+    for (int c=0; c<3; c++) {
+      ret.v[r] += a.v[r*3+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+static inline mat4 matmul(const mat4 &a, const mat4 &b) {
+  mat4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      float v = 0.0;
+      for (int k=0; k<4; k++) {
+        v += a.v[r*4+k] * b.v[k*4+c];
+      }
+      ret.v[r*4+c] = v;
+    }
+  }
+  return ret;
+}
+
+static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
+  vec4 ret = {{0.0}};
+  for (int r=0; r<4; r++) {
+    for (int c=0; c<4; c++) {
+      ret.v[r] += a.v[r*4+c] * b.v[c];
+    }
+  }
+  return ret;
+}
+
+// scales the input and output space of a transformation matrix
+// that assumes pixel-center origin.
+static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
+  // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
+
+  mat3 transform_out = {{
+    1.0f/s, 0.0f, 0.5f,
+    0.0f, 1.0f/s, 0.5f,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  mat3 transform_in = {{
+    s,  0.0f, -0.5f*s,
+    0.0f, s, -0.5f*s,
+    0.0f, 0.0f, 1.0f,
+  }};
+
+  return matmul3(transform_in, matmul3(in, transform_out));
+}

common/parameterized.py

@@ -1,47 +0,0 @@
-import sys
-import pytest
-import inspect
-
-
-class parameterized:
-  @staticmethod
-  def expand(cases):
-    cases = list(cases)
-
-    if not cases:
-      return lambda func: pytest.mark.skip("no parameterized cases")(func)
-
-    def decorator(func):
-      params = [p for p in inspect.signature(func).parameters if p != 'self']
-      normalized = [c if isinstance(c, tuple) else (c,) for c in cases]
-      # Infer arg count from first case so extra params (e.g. from @given) are left untouched
-      expand_params = params[: len(normalized[0])]
-      if len(expand_params) == 1:
-        return pytest.mark.parametrize(expand_params[0], [c[0] for c in normalized])(func)
-      return pytest.mark.parametrize(', '.join(expand_params), normalized)(func)
-
-    return decorator
-
-
-def parameterized_class(attrs, input_list=None):
-  if isinstance(attrs, list) and (not attrs or isinstance(attrs[0], dict)):
-    params_list = attrs
-  else:
-    assert input_list is not None
-    attr_names = (attrs,) if isinstance(attrs, str) else tuple(attrs)
-    params_list = [dict(zip(attr_names, v if isinstance(v, (tuple, list)) else (v,), strict=False)) for v in input_list]
-
-  def decorator(cls):
-    globs = sys._getframe(1).f_globals
-    for i, params in enumerate(params_list):
-      name = f"{cls.__name__}_{i}"
-      new_cls = type(name, (cls,), dict(params))
-      new_cls.__module__ = cls.__module__
-      new_cls.__test__ = True  # override inherited False so pytest collects this subclass
-      globs[name] = new_cls
-    # Don't collect the un-parametrised base, but return it so outer decorators
-    # (e.g. @pytest.mark.skip) land on it and propagate to subclasses via MRO.
-    cls.__test__ = False
-    return cls
-
-  return decorator

common/params_keys.h

@@ -131,5 +131,42 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Version", {PERSISTENT, STRING}},
     {"dp_dev_last_log", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"dp_dev_reset_conf", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
-    {"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL, "0"}},
+    {"dp_dev_beep", {PERSISTENT, BOOL, "0"}},
+    {"dp_dev_is_rhd", {PERSISTENT, BOOL, "0"}},
+    {"dp_lat_alka", {PERSISTENT, BOOL, "0"}},
+    {"dp_ui_display_mode", {PERSISTENT, INT, "0"}},
+    {"dp_dev_model_selected", {PERSISTENT, STRING}},
+    {"dp_dev_model_list", {PERSISTENT, STRING}},
+    {"dp_lat_lca_speed", {PERSISTENT, INT, "20"}},
+    {"dp_lat_lca_auto_sec", {PERSISTENT, FLOAT, "0.0"}},
+    {"dp_dev_go_off_road", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"dp_ui_hide_hud_speed_kph", {PERSISTENT, INT, "0"}},
+    {"dp_lon_ext_radar", {PERSISTENT, BOOL, "0"}},
+    {"dp_lat_road_edge_detection", {PERSISTENT, BOOL, "0"}},
+    {"dp_ui_rainbow", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_acm", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_aem", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_dtsc", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_apm", {PERSISTENT, BOOL, "0"}},
+    {"dp_lon_dasr", {PERSISTENT, BOOL, "0"}},
+    {"dp_dev_audible_alert_mode", {PERSISTENT, INT, "0"}},
+    {"dp_dev_auto_shutdown_in", {PERSISTENT, INT, "-5"}},
+    {"dp_ui_lead", {PERSISTENT, INT, "0"}},
+    {"dp_dev_opview", {PERSISTENT, BOOL, "0"}},
+    {"dp_dev_dashy", {PERSISTENT, BOOL, "0"}},
+    {"dp_maa_route", {CLEAR_ON_MANAGER_START, JSON}},
+    {"dp_maa_destination", {PERSISTENT, JSON}},
+    {"dp_maa_places", {PERSISTENT, JSON}},
+    {"dp_dev_delay_loggerd", {PERSISTENT, INT, "0"}},
+    {"dp_dev_disable_connect", {PERSISTENT, BOOL, "0"}},
+    {"dp_dev_tethering", {PERSISTENT, BOOL, "0"}},
+    {"dp_ui_mici", {PERSISTENT, BOOL, "0"}},
+    {"dp_lat_offset_cm", {PERSISTENT, INT, "0"}},
+    {"dp_toyota_door_auto_lock_unlock", {PERSISTENT, BOOL, "0"}},
+    {"dp_toyota_tss1_sng", {PERSISTENT, BOOL, "0"}},
+    {"dp_toyota_stock_lon", {PERSISTENT, BOOL, "0"}},
+    {"dp_vag_a0_sng", {PERSISTENT, BOOL, "0"}},
+    {"dp_vag_pq_steering_patch", {PERSISTENT, BOOL, "0"}},
+    {"dp_vag_avoid_eps_lockout", {PERSISTENT, BOOL, "0"}},
+    {"dp_honda_nidec_stock_long", {PERSISTENT, BOOL, "0"}},
 };

common/pid.py

@@ -3,9 +3,15 @@ from numbers import Number
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_p = k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_i = k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+    self._k_d = k_d
+    if isinstance(self._k_p, Number):
+      self._k_p = [[0], [self._k_p]]
+    if isinstance(self._k_i, Number):
+      self._k_i = [[0], [self._k_i]]
+    if isinstance(self._k_d, Number):
+      self._k_d = [[0], [self._k_d]]
 
     self.set_limits(pos_limit, neg_limit)
 

common/prefix.h

@@ -13,11 +13,7 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-#ifdef __APPLE__
+    msgq_path = Path::shm_path() + "/" + prefix;
-    msgq_path = "/tmp/msgq_" + prefix;
-#else
-    msgq_path = "/dev/shm/msgq_" + prefix;
-#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
@@ -27,14 +23,14 @@ public:
     auto param_path = Params().getParamPath();
     if (util::file_exists(param_path)) {
       std::string real_path = util::readlink(param_path);
-      util::check_system(util::string_format("rm %s -rf", real_path.c_str()));
+      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
       unlink(param_path.c_str());
     }
     if (getenv("COMMA_CACHE") == nullptr) {
-      util::check_system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()));
+      system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str());
     }
-    util::check_system(util::string_format("rm %s -rf", Path::comma_home().c_str()));
+    system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str());
-    util::check_system(util::string_format("rm %s -rf", msgq_path.c_str()));
+    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
     unsetenv("OPENPILOT_PREFIX");
   }
 

common/prefix.py

@@ -1,5 +1,4 @@
 import os
-import platform
 import shutil
 import uuid
 
@@ -10,10 +9,9 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(Paths.shm_path(), "msgq_" + self.prefix)
-    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

common/ratekeeper.cc

@@ -6,9 +6,9 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-RateKeeper::RateKeeper(const std::string &name_, float rate, float print_delay_threshold_)
+RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
-    : name(name_),
+    : name(name),
-      print_delay_threshold(std::max(0.f, print_delay_threshold_)) {
+      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
   interval = 1 / rate;
   last_monitor_time = seconds_since_boot();
   next_frame_time = last_monitor_time + interval;

common/realtime.py

@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.utils import MovingAverage
+from openpilot.common.util import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/tests/test_util.cc

@@ -36,7 +36,7 @@ TEST_CASE("util::read_file") {
     REQUIRE(util::read_file(filename).empty());
 
     std::string content = random_bytes(64 * 1024);
-    REQUIRE(write(fd, content.c_str(), content.size()) == (ssize_t)content.size());
+    write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
     bool equal = (ret == content);
     REQUIRE(equal);
@@ -114,12 +114,12 @@ TEST_CASE("util::safe_fwrite") {
 }
 
 TEST_CASE("util::create_directories") {
-  REQUIRE(system("rm /tmp/test_create_directories -rf") == 0);
+  system("rm /tmp/test_create_directories -rf");
   std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f";
 
-  auto check_dir_permissions = [](const std::string &path, mode_t mode) -> bool {
+  auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool {
     struct stat st = {};
-    return stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
+    return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode;
   };
 
   SECTION("create_directories") {
@@ -132,7 +132,7 @@ TEST_CASE("util::create_directories") {
   }
   SECTION("a file exists with the same name") {
     REQUIRE(util::create_directories(dir, 0755));
-    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT, 0644);
+    int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT);
     REQUIRE(f != -1);
     close(f);
     REQUIRE(util::create_directories(dir + "/file", 0755) == false);

common/transformations/.gitignore

@@ -0,0 +1,2 @@
+transformations
+transformations.cpp

common/transformations/SConscript

@@ -0,0 +1,5 @@
+Import('env', 'envCython')
+
+transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
+transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
+Export('transformations', 'transformations_python')

common/transformations/coordinates.cc

@@ -0,0 +1,100 @@
+#define _USE_MATH_DEFINES
+
+#include "common/transformations/coordinates.hpp"
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+double a = 6378137; // lgtm [cpp/short-global-name]
+double b = 6356752.3142; // lgtm [cpp/short-global-name]
+double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
+double e1sq = 6.73949674228 * 0.001;
+
+
+static Geodetic to_degrees(Geodetic geodetic){
+  geodetic.lat = RAD2DEG(geodetic.lat);
+  geodetic.lon = RAD2DEG(geodetic.lon);
+  return geodetic;
+}
+
+static Geodetic to_radians(Geodetic geodetic){
+  geodetic.lat = DEG2RAD(geodetic.lat);
+  geodetic.lon = DEG2RAD(geodetic.lon);
+  return geodetic;
+}
+
+
+ECEF geodetic2ecef(const Geodetic &geodetic) {
+  auto g = to_radians(geodetic);
+  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
+  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
+  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
+  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
+  return {x, y, z};
+}
+
+Geodetic ecef2geodetic(const ECEF &e) {
+  // Convert from ECEF to geodetic using Ferrari's methods
+  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
+  double x = e.x;
+  double y = e.y;
+  double z = e.z;
+
+  double r = sqrt(x * x + y * y);
+  double Esq = a * a - b * b;
+  double F = 54 * b * b * z * z;
+  double G = r * r + (1 - esq) * z * z - esq * Esq;
+  double C = (esq * esq * F * r * r) / (pow(G, 3));
+  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
+  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
+  double Q = sqrt(1 + 2 * esq * esq * P);
+  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
+  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
+  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
+  double Z_0 = b * b * z / (a * V);
+  double h = U * (1 - b * b / (a * V));
+
+  double lat = atan((z + e1sq * Z_0) / r);
+  double lon = atan2(y, x);
+
+  return to_degrees({lat, lon, h});
+}
+
+LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
+  init_ecef <<  e.x, e.y, e.z;
+
+  auto g = to_radians(geodetic);
+
+  ned2ecef_matrix <<
+    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
+    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
+    cos(g.lat), 0, -sin(g.lat);
+  ecef2ned_matrix = ned2ecef_matrix.transpose();
+}
+
+NED LocalCoord::ecef2ned(const ECEF &e) {
+  Eigen::Vector3d ecef;
+  ecef << e.x, e.y, e.z;
+
+  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
+  return {ned[0], ned[1], ned[2]};
+}
+
+ECEF LocalCoord::ned2ecef(const NED &n) {
+  Eigen::Vector3d ned;
+  ned << n.n, n.e, n.d;
+
+  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
+  return {ecef[0], ecef[1], ecef[2]};
+}
+
+NED LocalCoord::geodetic2ned(const Geodetic &g) {
+  ECEF e = ::geodetic2ecef(g);
+  return ecef2ned(e);
+}
+
+Geodetic LocalCoord::ned2geodetic(const NED &n) {
+  ECEF e = ned2ecef(n);
+  return ::ecef2geodetic(e);
+}

common/transformations/coordinates.hpp

@@ -0,0 +1,43 @@
+#pragma once
+
+#include <eigen3/Eigen/Dense>
+
+#define DEG2RAD(x) ((x) * M_PI / 180.0)
+#define RAD2DEG(x) ((x) * 180.0 / M_PI)
+
+struct ECEF {
+  double x, y, z;
+  Eigen::Vector3d to_vector() const {
+    return Eigen::Vector3d(x, y, z);
+  }
+};
+
+struct NED {
+  double n, e, d;
+  Eigen::Vector3d to_vector() const {
+    return Eigen::Vector3d(n, e, d);
+  }
+};
+
+struct Geodetic {
+  double lat, lon, alt;
+  bool radians=false;
+};
+
+ECEF geodetic2ecef(const Geodetic &g);
+Geodetic ecef2geodetic(const ECEF &e);
+
+class LocalCoord {
+public:
+  Eigen::Matrix3d ned2ecef_matrix;
+  Eigen::Matrix3d ecef2ned_matrix;
+  Eigen::Vector3d init_ecef;
+  LocalCoord(const Geodetic &g, const ECEF &e);
+  LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
+  LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
+
+  NED ecef2ned(const ECEF &e);
+  ECEF ned2ecef(const NED &n);
+  NED geodetic2ned(const Geodetic &g);
+  Geodetic ned2geodetic(const NED &n);
+};

common/transformations/orientation.cc

@@ -0,0 +1,144 @@
+#define _USE_MATH_DEFINES
+
+#include <iostream>
+#include <cmath>
+#include <eigen3/Eigen/Dense>
+
+#include "common/transformations/orientation.hpp"
+#include "common/transformations/coordinates.hpp"
+
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
+  if (quat.w() > 0){
+    return quat;
+  } else {
+    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
+  }
+}
+
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
+  Eigen::Quaterniond q;
+
+  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
+    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
+    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
+  return ensure_unique(q);
+}
+
+
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
+  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
+  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
+  // return {euler(2), euler(1), euler(0)};
+  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
+  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
+  double theta = asin(asin_arg_clipped);
+  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
+  return {gamma, theta, psi};
+}
+
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
+  return quat.toRotationMatrix();
+}
+
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
+  return ensure_unique(Eigen::Quaterniond(rot));
+}
+
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
+  return quat2rot(euler2quat(euler));
+}
+
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
+  return quat2euler(rot2quat(rot));
+}
+
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
+  return euler2rot({roll, pitch, yaw});
+}
+
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
+  Eigen::Quaterniond q;
+  q = Eigen::AngleAxisd(angle, axis);
+  return q.toRotationMatrix();
+}
+
+
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+  Eigen::Vector3d zero = ecef_init.to_vector();
+
+  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
+
+
+  x0 = Eigen::Vector3d(1, 0, 0);
+  y0 = Eigen::Vector3d(0, 1, 0);
+  z0 = Eigen::Vector3d(0, 0, 1);
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
+  /*
+    Using Rotations to Build Aerospace Coordinate Systems
+    Don Koks
+    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
+  */
+  LocalCoord converter = LocalCoord(ecef_init);
+
+  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
+  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
+  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
+
+  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
+  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
+  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
+
+  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
+  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
+  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
+
+  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
+  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
+
+  Eigen::Vector3d zero = ecef_init.to_vector();
+  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
+  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
+  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
+
+  double psi = atan2(x3.dot(y0), x3.dot(x0));
+  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
+
+  y2 = rot(z0, psi) * y0;
+  z2 = rot(y2, theta) * z0;
+
+  double phi = atan2(y3.dot(z2), y3.dot(y2));
+
+  return {phi, theta, psi};
+}
+

common/transformations/orientation.hpp

@@ -0,0 +1,17 @@
+#pragma once
+#include <eigen3/Eigen/Dense>
+#include "common/transformations/coordinates.hpp"
+
+
+Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
+
+Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
+Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
+Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
+Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
+Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
+Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
+Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
+Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);

common/transformations/tests/test_coordinates.py

@@ -102,36 +102,3 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
-
-  def test_errors(self):
-    # Test wrong shape/type for geodetic2ecef
-    # numpy_wrap raises IndexError for scalar input
-    with np.testing.assert_raises(IndexError):
-      coord.geodetic2ecef(1.0)
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0])
-
-    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
-      coord.geodetic2ecef([0, 0, 0, 0])
-
-    with np.testing.assert_raises(TypeError):
-      coord.geodetic2ecef(['a', 'b', 'c'])
-
-    # Test LocalCoord constructor errors
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic([0, 0])
-
-    with np.testing.assert_raises(ValueError):
-      coord.LocalCoord.from_geodetic(1)
-
-    with np.testing.assert_raises(TypeError):
-      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
-
-    # Test wrong shape/type for ecef2geodetic
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2])
-    with np.testing.assert_raises(ValueError):
-      coord.ecef2geodetic([1, 2, 3, 4])
-    with np.testing.assert_raises(IndexError):
-      coord.ecef2geodetic(1.0)

common/transformations/tests/test_orientation.py

@@ -1,5 +1,4 @@
 import numpy as np
-import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -60,32 +59,3 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
-
-  def test_inputs(self):
-    with pytest.raises(ValueError):
-      euler2quat([1, 2])
-
-    with pytest.raises(ValueError):
-      quat2rot([1, 2, 3])
-
-    with pytest.raises(IndexError):
-      rot2quat(np.zeros((2, 2)))
-
-  def test_euler_rot_consistency(self):
-    rpy = [0.1, 0.2, 0.3]
-    R = euler2rot(rpy)
-
-    # R -> q -> R
-    q = rot2quat(R)
-    R_new = quat2rot(q)
-    np.testing.assert_allclose(R, R_new, atol=1e-15)
-
-    # q -> R -> Euler (quat2euler) -> R
-    rpy_new = quat2euler(q)
-    R_new2 = euler2rot(rpy_new)
-    np.testing.assert_allclose(R, R_new2, atol=1e-15)
-
-    # R -> Euler (rot2euler) -> R
-    rpy_from_rot = rot2euler(R)
-    R_new3 = euler2rot(rpy_from_rot)
-    np.testing.assert_allclose(R, R_new3, atol=1e-15)

common/transformations/transformations.pxd

@@ -0,0 +1,72 @@
+# cython: language_level=3
+from libcpp cimport bool
+
+cdef extern from "orientation.cc":
+  pass
+
+cdef extern from "orientation.hpp":
+  cdef cppclass Quaternion "Eigen::Quaterniond":
+    Quaternion()
+    Quaternion(double, double, double, double)
+    double w()
+    double x()
+    double y()
+    double z()
+
+  cdef cppclass Vector3 "Eigen::Vector3d":
+    Vector3()
+    Vector3(double, double, double)
+    double operator()(int)
+
+  cdef cppclass Matrix3 "Eigen::Matrix3d":
+    Matrix3()
+    Matrix3(double*)
+
+    double operator()(int, int)
+
+  Quaternion euler2quat(const Vector3 &)
+  Vector3 quat2euler(const Quaternion &)
+  Matrix3 quat2rot(const Quaternion &)
+  Quaternion rot2quat(const Matrix3 &)
+  Vector3 rot2euler(const Matrix3 &)
+  Matrix3 euler2rot(const Vector3 &)
+  Matrix3 rot_matrix(double, double, double)
+  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
+  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
+
+
+cdef extern from "coordinates.cc":
+  cdef struct ECEF:
+    double x
+    double y
+    double z
+
+  cdef struct NED:
+    double n
+    double e
+    double d
+
+  cdef struct Geodetic:
+    double lat
+    double lon
+    double alt
+    bool radians
+
+  ECEF geodetic2ecef(const Geodetic &)
+  Geodetic ecef2geodetic(const ECEF &)
+
+  cdef cppclass LocalCoord_c "LocalCoord":
+    Matrix3 ned2ecef_matrix
+    Matrix3 ecef2ned_matrix
+
+    LocalCoord_c(const Geodetic &, const ECEF &)
+    LocalCoord_c(const Geodetic &)
+    LocalCoord_c(const ECEF &)
+
+    NED ecef2ned(const ECEF &)
+    ECEF ned2ecef(const NED &)
+    NED geodetic2ned(const Geodetic &)
+    Geodetic ned2geodetic(const NED &)
+
+cdef extern from "coordinates.hpp":
+  pass

common/transformations/transformations.py

@@ -1,342 +0,0 @@
-import numpy as np
-
-
-# Constants
-a = 6378137.0
-b = 6356752.3142
-esq = 6.69437999014e-3
-e1sq = 6.73949674228e-3
-
-
-def geodetic2ecef_single(g):
-  """
-  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
-  """
-  try:
-    if len(g) != 3:
-      raise ValueError("Geodetic must be size 3")
-  except TypeError:
-    raise ValueError("Geodetic must be a sequence of length 3") from None
-
-  lat, lon, alt = g
-  lat = np.radians(lat)
-  lon = np.radians(lon)
-  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
-  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
-  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
-  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
-  return np.array([x, y, z])
-
-
-def ecef2geodetic_single(e):
-  """
-  Convert ECEF to geodetic coordinates using Ferrari's solution.
-  """
-  x, y, z = e
-  r = np.sqrt(x**2 + y**2)
-  Esq = a**2 - b**2
-  F = 54 * b**2 * z**2
-  G = r**2 + (1 - esq) * z**2 - esq * Esq
-  C = (esq**2 * F * r**2) / (G**3)
-  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
-  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
-  Q = np.sqrt(1 + 2 * esq**2 * P)
-  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
-  U = np.sqrt((r - esq * r_0)**2 + z**2)
-  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
-  Z_0 = b**2 * z / (a * V)
-  h = U * (1 - b**2 / (a * V))
-  lat = np.arctan((z + e1sq * Z_0) / r)
-  lon = np.arctan2(y, x)
-  return np.array([np.degrees(lat), np.degrees(lon), h])
-
-
-def euler2quat_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a quaternion.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
-  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
-  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
-
-  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
-  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
-  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
-  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def quat2euler_single(q):
-  """
-  Convert a quaternion to Euler angles (roll, pitch, yaw).
-  """
-  w, x, y, z = q
-  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
-  sin_arg = 2 * (w * y - z * x)
-  sin_arg = np.clip(sin_arg, -1.0, 1.0)
-  theta = np.arcsin(sin_arg)
-  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
-  return np.array([gamma, theta, psi])
-
-
-def quat2rot_single(q):
-  """
-  Convert a quaternion to a 3x3 rotation matrix.
-  """
-  w, x, y, z = q
-  xx, yy, zz = x * x, y * y, z * z
-  xy, xz, yz = x * y, x * z, y * z
-  wx, wy, wz = w * x, w * y, w * z
-
-  mat = np.array([
-    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
-    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
-    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
-  ])
-  return mat
-
-
-def rot2quat_single(rot):
-  """
-  Convert a 3x3 rotation matrix to a quaternion.
-  """
-  trace = np.trace(rot)
-  if trace > 0:
-    s = 0.5 / np.sqrt(trace + 1.0)
-    w = 0.25 / s
-    x = (rot[2, 1] - rot[1, 2]) * s
-    y = (rot[0, 2] - rot[2, 0]) * s
-    z = (rot[1, 0] - rot[0, 1]) * s
-  else:
-    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
-      w = (rot[2, 1] - rot[1, 2]) / s
-      x = 0.25 * s
-      y = (rot[0, 1] + rot[1, 0]) / s
-      z = (rot[0, 2] + rot[2, 0]) / s
-    elif rot[1, 1] > rot[2, 2]:
-      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
-      w = (rot[0, 2] - rot[2, 0]) / s
-      x = (rot[0, 1] + rot[1, 0]) / s
-      y = 0.25 * s
-      z = (rot[1, 2] + rot[2, 1]) / s
-    else:
-      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
-      w = (rot[1, 0] - rot[0, 1]) / s
-      x = (rot[0, 2] + rot[2, 0]) / s
-      y = (rot[1, 2] + rot[2, 1]) / s
-      z = 0.25 * s
-
-  if w < 0:
-    return np.array([-w, -x, -y, -z])
-  return np.array([w, x, y, z])
-
-
-def euler2rot_single(euler):
-  """
-  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
-  Rotation order: Z-Y-X (yaw, pitch, roll).
-  """
-  phi, theta, psi = euler
-
-  cx, sx = np.cos(phi), np.sin(phi)
-  cy, sy = np.cos(theta), np.sin(theta)
-  cz, sz = np.cos(psi), np.sin(psi)
-
-  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
-  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
-  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
-
-  return Rz @ Ry @ Rx
-
-
-def rot2euler_single(rot):
-  """
-  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
-  """
-  return quat2euler_single(rot2quat_single(rot))
-
-
-def rot_matrix(roll, pitch, yaw):
-  """
-  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
-  """
-  return euler2rot_single([roll, pitch, yaw])
-
-
-def axis_angle_to_rot(axis, angle):
-  """
-  Convert an axis-angle representation to a 3x3 rotation matrix.
-  """
-  c = np.cos(angle / 2)
-  s = np.sin(angle / 2)
-  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
-  return quat2rot_single(q)
-
-
-class LocalCoord:
-  """
-  A class to handle conversions between ECEF and local NED coordinates.
-  """
-  def __init__(self, geodetic=None, ecef=None):
-    """
-    Initialize LocalCoord with either geodetic or ECEF coordinates.
-    """
-    if geodetic is not None:
-      self.init_ecef = geodetic2ecef_single(geodetic)
-      lat, lon, _ = geodetic
-    elif ecef is not None:
-      self.init_ecef = np.array(ecef)
-      lat, lon, _ = ecef2geodetic_single(ecef)
-    else:
-      raise ValueError("Must provide geodetic or ecef")
-
-    lat = np.radians(lat)
-    lon = np.radians(lon)
-
-    self.ned2ecef_matrix = np.array([
-      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
-      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
-      [np.cos(lat), 0, -np.sin(lat)]
-    ])
-    self.ecef2ned_matrix = self.ned2ecef_matrix.T
-
-  @classmethod
-  def from_geodetic(cls, geodetic):
-    """
-    Create a LocalCoord instance from geodetic coordinates.
-    """
-    return cls(geodetic=geodetic)
-
-  @classmethod
-  def from_ecef(cls, ecef):
-    """
-    Create a LocalCoord instance from ECEF coordinates.
-    """
-    return cls(ecef=ecef)
-
-  def ecef2ned_single(self, ecef):
-    """
-    Convert a single ECEF point to NED coordinates relative to the origin.
-    """
-    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
-
-  def ned2ecef_single(self, ned):
-    """
-    Convert a single NED point to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix @ ned + self.init_ecef
-
-  def geodetic2ned_single(self, geodetic):
-    """
-    Convert a single geodetic point to NED coordinates.
-    """
-    ecef = geodetic2ecef_single(geodetic)
-    return self.ecef2ned_single(ecef)
-
-  def ned2geodetic_single(self, ned):
-    """
-    Convert a single NED point to geodetic coordinates.
-    """
-    ecef = self.ned2ecef_single(ned)
-    return ecef2geodetic_single(ecef)
-
-  @property
-  def ned_from_ecef_matrix(self):
-    """
-    Returns the rotation matrix from ECEF to NED coordinates.
-    """
-    return self.ecef2ned_matrix
-
-  @property
-  def ecef_from_ned_matrix(self):
-    """
-    Returns the rotation matrix from NED to ECEF coordinates.
-    """
-    return self.ned2ecef_matrix
-
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-  """
-  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent ECEF Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-  zero = np.array(ecef_init)
-
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  phi, theta, psi = ned_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])
-
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-  """
-  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
-  to equivalent NED Euler angles.
-  """
-  converter = LocalCoord(ecef=ecef_init)
-
-  x0 = np.array([1.0, 0, 0])
-  y0 = np.array([0, 1.0, 0])
-  z0 = np.array([0, 0, 1.0])
-
-  phi, theta, psi = ecef_pose
-
-  x1 = axis_angle_to_rot(z0, psi) @ x0
-  y1 = axis_angle_to_rot(z0, psi) @ y0
-  z1 = axis_angle_to_rot(z0, psi) @ z0
-
-  x2 = axis_angle_to_rot(y1, theta) @ x1
-  y2 = axis_angle_to_rot(y1, theta) @ y1
-  z2 = axis_angle_to_rot(y1, theta) @ z1
-
-  x3 = axis_angle_to_rot(x2, phi) @ x2
-  y3 = axis_angle_to_rot(x2, phi) @ y2
-
-  zero = np.array(ecef_init)
-  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
-  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
-  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
-
-  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
-  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
-
-  y2 = axis_angle_to_rot(z0, psi_out) @ y0
-  z2 = axis_angle_to_rot(y2, theta_out) @ z0
-
-  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
-
-  return np.array([phi_out, theta_out, psi_out])

common/transformations/transformations.pyx

@@ -0,0 +1,173 @@
+# distutils: language = c++
+# cython: language_level = 3
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
+
+
+import numpy as np
+cimport numpy as np
+
+cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
+    return np.array([
+        [m(0, 0), m(0, 1), m(0, 2)],
+        [m(1, 0), m(1, 1), m(1, 2)],
+        [m(2, 0), m(2, 1), m(2, 2)],
+    ])
+
+cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
+    assert m.shape[0] == 3
+    assert m.shape[1] == 3
+    return Matrix3(<double*>m.data)
+
+cdef ECEF list2ecef(ecef):
+    cdef ECEF e
+    e.x = ecef[0]
+    e.y = ecef[1]
+    e.z = ecef[2]
+    return e
+
+cdef NED list2ned(ned):
+    cdef NED n
+    n.n = ned[0]
+    n.e = ned[1]
+    n.d = ned[2]
+    return n
+
+cdef Geodetic list2geodetic(geodetic):
+    cdef Geodetic g
+    g.lat = geodetic[0]
+    g.lon = geodetic[1]
+    g.alt = geodetic[2]
+    return g
+
+def euler2quat_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Quaternion q = euler2quat_c(e)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def quat2euler_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Vector3 e = quat2euler_c(q)
+    return [e(0), e(1), e(2)]
+
+def quat2rot_single(quat):
+    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
+    cdef Matrix3 r = quat2rot_c(q)
+    return matrix2numpy(r)
+
+def rot2quat_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Quaternion q = rot2quat_c(r)
+    return [q.w(), q.x(), q.y(), q.z()]
+
+def euler2rot_single(euler):
+    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
+    cdef Matrix3 r = euler2rot_c(e)
+    return matrix2numpy(r)
+
+def rot2euler_single(rot):
+    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
+    cdef Vector3 e = rot2euler_c(r)
+    return [e(0), e(1), e(2)]
+
+def rot_matrix(roll, pitch, yaw):
+    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
+
+    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+    cdef ECEF init = list2ecef(ecef_init)
+    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
+
+    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
+    return [e(0), e(1), e(2)]
+
+def geodetic2ecef_single(geodetic):
+    cdef Geodetic g = list2geodetic(geodetic)
+    cdef ECEF e = geodetic2ecef_c(g)
+    return [e.x, e.y, e.z]
+
+def ecef2geodetic_single(ecef):
+    cdef ECEF e = list2ecef(ecef)
+    cdef Geodetic g = ecef2geodetic_c(e)
+    return [g.lat, g.lon, g.alt]
+
+
+cdef class LocalCoord:
+    cdef LocalCoord_c * lc
+
+    def __init__(self, geodetic=None, ecef=None):
+        assert (geodetic is not None) or (ecef is not None)
+        if geodetic is not None:
+            self.lc = new LocalCoord_c(list2geodetic(geodetic))
+        elif ecef is not None:
+            self.lc = new LocalCoord_c(list2ecef(ecef))
+
+    @property
+    def ned2ecef_matrix(self):
+        return matrix2numpy(self.lc.ned2ecef_matrix)
+
+    @property
+    def ecef2ned_matrix(self):
+        return matrix2numpy(self.lc.ecef2ned_matrix)
+
+    @property
+    def ned_from_ecef_matrix(self):
+        return self.ecef2ned_matrix
+
+    @property
+    def ecef_from_ned_matrix(self):
+        return self.ned2ecef_matrix
+
+    @classmethod
+    def from_geodetic(cls, geodetic):
+        return cls(geodetic=geodetic)
+
+    @classmethod
+    def from_ecef(cls, ecef):
+        return cls(ecef=ecef)
+
+    def ecef2ned_single(self, ecef):
+        assert self.lc
+        cdef ECEF e = list2ecef(ecef)
+        cdef NED n = self.lc.ecef2ned(e)
+        return [n.n, n.e, n.d]
+
+    def ned2ecef_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef ECEF e = self.lc.ned2ecef(n)
+        return [e.x, e.y, e.z]
+
+    def geodetic2ned_single(self, geodetic):
+        assert self.lc
+        cdef Geodetic g = list2geodetic(geodetic)
+        cdef NED n = self.lc.geodetic2ned(g)
+        return [n.n, n.e, n.d]
+
+    def ned2geodetic_single(self, ned):
+        assert self.lc
+        cdef NED n = list2ned(ned)
+        cdef Geodetic g = self.lc.ned2geodetic(n)
+        return [g.lat, g.lon, g.alt]
+
+    def __dealloc__(self):
+        del self.lc

common/util.cc

@@ -181,9 +181,9 @@ bool file_exists(const std::string& fn) {
 }
 
 static bool createDirectory(std::string dir, mode_t mode) {
-  auto verify_dir = [](const std::string& path) -> bool {
+  auto verify_dir = [](const std::string& dir) -> bool {
     struct stat st = {};
-    return (stat(path.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
+    return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR);
   };
   // remove trailing /'s
   while (dir.size() > 1 && dir.back() == '/') {
@@ -288,7 +288,7 @@ std::string strip(const std::string &str) {
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
-  std::unique_ptr<FILE, int(*)(FILE*)> pipe(popen(command.c_str(), "r"), pclose);
+  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(command.c_str(), "r"), pclose);
 
   if (!pipe) {
     return "";
@@ -303,7 +303,7 @@ std::string check_output(const std::string& command) {
 
 bool system_time_valid() {
   // Default to August 26, 2024
-  tm min_tm = {.tm_mday = 26, .tm_mon = 7, .tm_year = 2024 - 1900};
+  tm min_tm = {.tm_year = 2024 - 1900, .tm_mon = 7, .tm_mday = 26};
   time_t min_date = mktime(&min_tm);
 
   struct stat st;

common/util.h

@@ -96,13 +96,6 @@ bool create_directories(const std::string &dir, mode_t mode);
 
 std::string check_output(const std::string& command);
 
-inline void check_system(const std::string& cmd) {
-  int ret = std::system(cmd.c_str());
-  if (ret != 0) {
-    fprintf(stderr, "system command failed (%d): %s\n", ret, cmd.c_str());
-  }
-}
-
 bool system_time_valid();
 
 inline void sleep_for(const int milliseconds) {

common/util.py

@@ -0,0 +1,46 @@
+import os
+import subprocess
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count

common/utils.py

@@ -7,82 +7,14 @@ import time
 import functools
 from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
+from openpilot.common.swaglog import cloudlog
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
-class Timer:
-  """Simple lap timer for profiling sequential operations."""
-
-  def __init__(self):
-    self._start = self._lap = time.monotonic()
-    self._sections = {}
-
-  def lap(self, name):
-    now = time.monotonic()
-    self._sections[name] = now - self._lap
-    self._lap = now
-
-  @property
-  def total(self):
-    return time.monotonic() - self._start
-
-  def fmt(self, duration):
-    parts = ", ".join(f"{k}={v:.2f}s" + (f" ({duration/v:.0f}x)" if k == 'render' and v > 0 else "") for k, v in self._sections.items())
-    total = self.total
-    realtime = f"{duration/total:.1f}x realtime" if total > 0 else "N/A"
-    return f"{duration}s in {total:.1f}s ({realtime}) | {parts}"
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count
-
 
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
-
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback
@@ -167,92 +99,6 @@ def managed_proc(cmd: list[str], env: dict[str, str]):
       proc.kill()
 
 
-def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
-  rows = [list(row) for row in tabular_data]
-
-  def fmt(val):
-    if isinstance(val, str):
-      return val
-    if isinstance(val, (bool, int)):
-      return str(val)
-    try:
-      return format(val, floatfmt)
-    except (TypeError, ValueError):
-      return str(val)
-
-  formatted = [[fmt(c) for c in row] for row in rows]
-  hdrs = [str(h) for h in headers] if headers else None
-
-  ncols = max((len(r) for r in formatted), default=0)
-  if hdrs:
-    ncols = max(ncols, len(hdrs))
-  if ncols == 0:
-    return ""
-
-  for r in formatted:
-    r.extend([""] * (ncols - len(r)))
-  if hdrs:
-    hdrs.extend([""] * (ncols - len(hdrs)))
-
-  widths = [0] * ncols
-  if hdrs:
-    for i in range(ncols):
-      widths[i] = len(hdrs[i])
-  for row in formatted:
-    for i in range(ncols):
-      widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n')))
-
-  def _align(s, w):
-    if stralign == "center":
-      return s.center(w)
-    return s.ljust(w)
-
-  if tablefmt == "html":
-    parts = ["<table>"]
-    if hdrs:
-      parts.append("<thead>")
-      parts.append("<tr>" + "".join(f"<th>{h}</th>" for h in hdrs) + "</tr>")
-      parts.append("</thead>")
-    parts.append("<tbody>")
-    for row in formatted:
-      parts.append("<tr>" + "".join(f"<td>{c}</td>" for c in row) + "</tr>")
-    parts.append("</tbody>")
-    parts.append("</table>")
-    return "\n".join(parts)
-
-  if tablefmt == "simple_grid":
-    def _sep(left, mid, right):
-      return left + mid.join("\u2500" * (w + 2) for w in widths) + right
-
-    top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518")
-
-    def _fmt_row(cells):
-      split = [c.split('\n') for c in cells]
-      nlines = max(len(s) for s in split)
-      for s in split:
-        s.extend([""] * (nlines - len(s)))
-      return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)]
-
-    lines = [top]
-    if hdrs:
-      lines.extend(_fmt_row(hdrs))
-      lines.append(mid_sep)
-    for ri, row in enumerate(formatted):
-      lines.extend(_fmt_row(row))
-      lines.append(mid_sep if ri < len(formatted) - 1 else bot)
-    return "\n".join(lines)
-
-  # simple
-  gap = "  "
-  lines = []
-  if hdrs:
-    lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True)))
-    lines.append(gap.join("-" * w for w in widths))
-  for row in formatted:
-    lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols)))
-  return "\n".join(lines)
-
-
 def retry(attempts=3, delay=1.0, ignore_failure=False):
   def decorator(func):
     @functools.wraps(func)
@@ -261,11 +107,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False):
         try:
           return func(*args, **kwargs)
         except Exception:
-          print(f"{func.__name__} failed, trying again")
+          cloudlog.exception(f"{func.__name__} failed, trying again")
           time.sleep(delay)
 
       if ignore_failure:
-        print(f"{func.__name__} failed after retry")
+        cloudlog.error(f"{func.__name__} failed after retry")
       else:
         raise Exception(f"{func.__name__} failed after retry")
     return wrapper

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.11.0"
+#define COMMA_VERSION "0.10.3"

conftest.py

@@ -10,6 +10,7 @@ from openpilot.system.hardware import TICI, HARDWARE
 # TODO: pytest-cpp doesn't support FAIL, and we need to create test translations in sessionstart
 # pending https://github.com/pytest-dev/pytest-cpp/pull/147
 collect_ignore = [
+  "selfdrive/ui/tests/test_translations",
   "selfdrive/test/process_replay/test_processes.py",
   "selfdrive/test/process_replay/test_regen.py",
 ]

docs/CARS.md

@@ -4,23 +4,22 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 329 Supported Cars
+# 325 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -32,33 +31,33 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
 |Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -92,7 +91,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -103,7 +102,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
-|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
@@ -165,7 +163,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Kia|K7 2017|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K7 2017">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -204,7 +201,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
 |Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
@@ -220,19 +216,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
@@ -243,19 +239,19 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -301,42 +297,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />

docs/CONTRIBUTING.md

@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
 ## What contributions are we looking for?
 
 **openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
 
 ### What gets merged?
 
 The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
 If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged. 
 
 All of these are examples of good PRs:
 * typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,17 +29,17 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful 
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
 * **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
-* **Negative expected value**: This is a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
+* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
 [Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There are a lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma 3X or a car.
 
 ## Pull Requests
 

docs/README.md

@@ -8,7 +8,7 @@ NOTE: Those commands must be run in the root directory of openpilot, **not /docs
 
 **1. Install the docs dependencies**
 ``` bash
-uv pip install .[docs]
+pip install .[docs]
 ```
 
 **2. Build the new site**

docs/car-porting/what-is-a-car-port.md

@@ -21,10 +21,10 @@ Each car brand is supported by a standard interface structure in `opendbc/car/[b
 * `values.py`: Limits for actuation, general constants for cars, and supported car documentation
 * `radar_interface.py`: Interface for parsing radar points from the car, if applicable
 
-## safety
+## panda
 
-* `opendbc_repo/opendbc/safety/modes/[brand].h`: Brand-specific safety logic
+* `board/safety/safety_[brand].h`: Brand-specific safety logic
-* `opendbc_repo/opendbc/safety/tests/test_[brand].py`: Brand-specific safety CI tests
+* `tests/safety/test_[brand].py`: Brand-specific safety CI tests
 
 ## openpilot
 

dragonpilot/dashy/dashyd.py

@@ -24,8 +24,8 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 Dashy State Aggregation Daemon
 
 Aggregates all cereal topics needed by dashy UI into a single dashyState message.
-serverd then forwards that one message over WebSocket, avoiding per-topic
+This reduces CPU overhead in webrtcd by doing JSON serialization once here
-serialization for every connected client.
+instead of serializing 14+ topics separately.
 
 All display formatting (units, distances, times) is done here so the frontend
 can be a pure display layer with no conversion logic.
@@ -46,6 +46,8 @@ LOOP_RATE = 15  # Hz
 DOWNSAMPLE_FACTOR = 2
 
 # Unit conversion constants
+M_TO_KM = 0.001
+M_TO_MI = 0.000621371
 M_TO_FT = 3.28084
 
 # Global state (refreshed periodically)
@@ -97,6 +99,42 @@ def format_speed(speed_ms: float) -> str:
     return f"{max(0, speed_ms * Conversions.MS_TO_MPH):.0f}"
 
 
+def format_speed_value(speed_ms: float) -> float:
+    """Convert speed to display units (m/s -> km/h or mph)."""
+    if _is_metric:
+        return max(0, speed_ms * Conversions.MS_TO_KPH)
+    return max(0, speed_ms * Conversions.MS_TO_MPH)
+
+
+def format_distance(meters: float) -> str:
+    """Format distance for display."""
+    if meters <= 0:
+        return ""
+    if _is_metric:
+        if meters >= 1000:
+            return f"{meters * M_TO_KM:.1f} km"
+        return f"{meters:.0f} m"
+    else:
+        miles = meters * M_TO_MI
+        if miles >= 0.1:
+            return f"{miles:.1f} mi"
+        return f"{meters * M_TO_FT:.0f} ft"
+
+
+def format_time(seconds: float) -> str:
+    """Format time duration for display."""
+    if seconds <= 0:
+        return ""
+    minutes = int(seconds / 60)
+    if minutes < 60:
+        return f"{minutes} min"
+    hours = minutes // 60
+    mins = minutes % 60
+    if mins == 0:
+        return f"{hours} hr"
+    return f"{hours} hr {mins} min"
+
+
 def get_speed_unit() -> str:
     """Get current speed unit string."""
     return "km/h" if _is_metric else "mph"
@@ -146,14 +184,10 @@ def extract_car_state(sm):
     v_ego = float(cs.vEgo)
     v_ego_cluster = float(cs.vEgoCluster)
 
-    # Set speed: prefer the modern carState.vCruiseCluster; only fall back
+    # Get set speed from controlsState.vCruiseDEPRECATED (fallback to carState.vCruiseCluster)
-    # to controlsState.vCruiseDEPRECATED if the cluster value isn't populated.
     v_cruise = float(cs.vCruiseCluster)
-    if not (0 < v_cruise < SET_SPEED_NA) and 'controlsState' in sm.updated and sm.updated['controlsState']:
+    if 'controlsState' in sm.updated and sm.updated['controlsState']:
-        try:
+        v_cruise = float(sm['controlsState'].vCruiseDEPRECATED)
-            v_cruise = float(sm['controlsState'].vCruiseDEPRECATED)
-        except Exception:
-            pass
     set_speed = get_cruise_speed(v_cruise)
 
     return {
@@ -162,13 +196,10 @@ def extract_car_state(sm):
         'gearShifter': str(cs.gearShifter),
         'aEgo': float(cs.aEgo),
         'steeringAngleDeg': float(cs.steeringAngleDeg),
-        'steeringPressed': bool(cs.steeringPressed),
-        'gasPressed': bool(cs.gasPressed),
         'leftBlinker': bool(cs.leftBlinker),
         'rightBlinker': bool(cs.rightBlinker),
         'leftBlindspot': bool(cs.leftBlindspot),
         'rightBlindspot': bool(cs.rightBlindspot),
-        'cruiseEnabled': bool(cs.cruiseState.enabled),
         # Pre-formatted display values
         'speedDisplay': format_speed(v_ego),
         'speedClusterDisplay': format_speed(v_ego_cluster) if v_ego_cluster > 0 else format_speed(v_ego),
@@ -203,13 +234,8 @@ def extract_device_state(sm):
         temp_display = f"{temp_f:.0f}°" if temp_c > 0 else "--"
     return {
         'cpuUsagePercent': list(ds.cpuUsagePercent) if ds.cpuUsagePercent else [],
-        'gpuUsagePercent': int(ds.gpuUsagePercent),
         'memoryUsagePercent': int(ds.memoryUsagePercent),
-        'freeSpacePercent': float(ds.freeSpacePercent),
         'maxTempC': temp_c,
-        'thermalStatus': str(ds.thermalStatus),  # 'green' | 'yellow' | 'red' | 'danger'
-        'fanSpeedPercentDesired': int(ds.fanSpeedPercentDesired),
-        'powerDrawW': float(safe_get(ds, 'powerDrawW', 0)),
         'deviceType': str(ds.deviceType),
         'tempDisplay': temp_display,
     }
@@ -222,43 +248,23 @@ def extract_lead(lead, sm):
     y_rel = float(lead.yRel)
     has_lead = bool(lead.status)
 
-    # Pre-format lead display values. Each metric ships as a
+    # Pre-format lead display values
-    # (value, unit) pair so the HUD can tabular-align numbers without
-    # regex-parsing on the JS side.
-    dist_value = "--"
-    dist_unit = ""
-    speed_value = "--"
-    speed_unit_str = ""
-    ttc_value = "—"
-    ttc_unit = "s"
-    ttc_urgent = False
     if has_lead:
-        speed_unit_str = "km/h" if _is_metric else "mph"
-        dist_unit = "m" if _is_metric else "ft"
-        conv = Conversions.MS_TO_KPH if _is_metric else Conversions.MS_TO_MPH
-        dist_value = f"{d_rel:.1f}" if _is_metric else f"{d_rel * M_TO_FT:.1f}"
         v_ego = float(sm['carState'].vEgo) if sm.valid['carState'] else 0
-        # Lead's absolute speed = ego + relative (clamped to 0).
+        lead_speed_ms = max(0, v_ego + v_rel)
-        lead_speed_disp = max(0.0, v_ego + v_rel) * conv
+        speed_display = format_speed(lead_speed_ms)
-        speed_value = f"{lead_speed_disp:.1f}"
+        distance_display = f"{d_rel:.1f}m" if _is_metric else f"{d_rel * M_TO_FT:.0f}ft"
-        if v_ego > 0:
+    else:
-            ttc = d_rel / v_ego
+        speed_display = "--"
-            if ttc < 5.0:
+        distance_display = "--"
-                ttc_value = f"{ttc:.1f}"
-                ttc_urgent = True
 
     return {
         'status': has_lead,
         'dRel': d_rel,
         'yRel': y_rel,
         'vRel': v_rel,
-        'distValue': dist_value,
+        'speedDisplay': speed_display,
-        'distUnit': dist_unit,
+        'distanceDisplay': distance_display,
-        'speedValue': speed_value,
-        'speedUnit': speed_unit_str,
-        'ttcValue': ttc_value,
-        'ttcUnit': ttc_unit,
-        'ttcUrgent': ttc_urgent,
     }
 
 
@@ -298,14 +304,6 @@ def extract_live_tracks(sm):
                 # Skip if this track is already shown as a lead vehicle
                 if pt.trackId in lead_track_ids:
                     continue
-                # Drop stale tracks — radar's predicting, not measuring
-                if not pt.measured:
-                    continue
-                # Drop stationary clutter (sign posts, guardrails,
-                # parked cars). |vRel| < 0.5 m/s ≈ standing still
-                # relative to ego; not relevant traffic.
-                if abs(pt.vRel) < 0.5:
-                    continue
 
                 points.append({
                     'd': float(pt.dRel),
@@ -319,6 +317,85 @@ def extract_live_tracks(sm):
         return {'points': []}
 
 
+def extract_live_gps(sm):
+    """Extract liveGPS fields used by dashy."""
+    gps = sm['liveGPS']
+    # Skip if no coordinates yet
+    if gps.latitude == 0 and gps.longitude == 0:
+        return None
+    return {
+        'latitude': float(gps.latitude),
+        'longitude': float(gps.longitude),
+        'bearingDeg': float(gps.bearingDeg),
+        'speed': float(gps.speed),
+        'gpsOK': bool(gps.gpsOK),
+        'horizontalAccuracy': float(gps.horizontalAccuracy),
+        'status': str(gps.status),
+    }
+
+
+def extract_nav_instruction(sm):
+    """Extract navInstruction fields used by dashy."""
+    nav = sm['navInstruction']
+    maneuver_dist = float(safe_get(nav, 'maneuverDistance', 0))
+    dist_remaining = float(safe_get(nav, 'distanceRemaining', 0))
+    time_remaining = float(safe_get(nav, 'timeRemaining', 0))
+    speed_limit_ms = float(safe_get(nav, 'speedLimit', 0))
+
+    return {
+        'valid': sm.valid['navInstruction'],
+        'maneuverDistance': maneuver_dist,
+        'maneuverPrimaryText': str(safe_get(nav, 'maneuverPrimaryText', '')),
+        'maneuverSecondaryText': str(safe_get(nav, 'maneuverSecondaryText', '')),
+        'maneuverType': str(safe_get(nav, 'maneuverType', '')),
+        'maneuverModifier': str(safe_get(nav, 'maneuverModifier', '')),
+        'distanceRemaining': dist_remaining,
+        'timeRemaining': time_remaining,
+        'timeRemainingTypical': float(safe_get(nav, 'timeRemainingTypical', 0)),
+        'speedLimit': speed_limit_ms,
+        'speedLimitSign': str(safe_get(nav, 'speedLimitSign', '')),
+        # Pre-formatted display values
+        'maneuverDistanceDisplay': format_distance(maneuver_dist),
+        'distanceRemainingDisplay': format_distance(dist_remaining),
+        'timeRemainingDisplay': format_time(time_remaining),
+        'speedLimitDisplay': format_speed(speed_limit_ms) if speed_limit_ms > 0 else '',
+    }
+
+
+def extract_nav_instruction_ext(sm):
+    """Extract navInstructionExt fields used by dashy (extended nav data)."""
+    nav_ext = sm['navInstructionExt']
+    # Extract allManeuvers list (with name field and formatted distance)
+    all_maneuvers = []
+    if hasattr(nav_ext, 'allManeuvers'):
+        for m in nav_ext.allManeuvers:
+            dist = float(safe_get(m, 'distance', 0))
+            all_maneuvers.append({
+                'distance': dist,
+                'distanceDisplay': format_distance(dist),
+                'type': str(safe_get(m, 'type', '')),
+                'modifier': str(safe_get(m, 'modifier', '')),
+                'name': str(safe_get(m, 'name', '')),
+            })
+    return {
+        'turnAngle': float(safe_get(nav_ext, 'turnAngle', 0)),
+        'turnCurvature': float(safe_get(nav_ext, 'turnCurvature', 0)),
+        'allManeuvers': all_maneuvers,
+    }
+
+
+def extract_nav_route(sm):
+    """Extract navRoute coordinates used by dashy."""
+    route = sm['navRoute']
+    coords = []
+    if hasattr(route, 'coordinates'):
+        for c in route.coordinates:
+            coords.append([float(c.longitude), float(c.latitude)])
+    return {
+        'coordinates': coords,
+    }
+
+
 def extract_model_v2(sm):
     """Extract modelV2 fields used by dashy (downsampled)."""
     model = sm['modelV2']
@@ -414,10 +491,14 @@ TOPICS = {
     'liveTracks':       {'extractor': extract_live_tracks,       'rate': 'fast'},
     'modelV2':          {'extractor': extract_model_v2,          'rate': 'fast'},
     'longitudinalPlan': {'extractor': extract_longitudinal_plan, 'rate': 'fast'},
+    'liveGPS':          {'extractor': extract_live_gps,          'rate': 'fast'},
 
     # Slow topics - poll at fixed intervals
     'deviceState':      {'extractor': extract_device_state,      'rate': LOOP_RATE // 2},
     'liveCalibration':  {'extractor': extract_live_calibration,  'rate': LOOP_RATE},
+    'navInstruction':   {'extractor': extract_nav_instruction,   'rate': LOOP_RATE},
+    'navInstructionExt': {'extractor': extract_nav_instruction_ext, 'rate': LOOP_RATE},
+    'navRoute':         {'extractor': extract_nav_route,         'rate': LOOP_RATE},
     'carParams':        {'extractor': extract_car_params,        'rate': LOOP_RATE * 2},
 
     # Valid-only topics - just track valid state
@@ -431,55 +512,27 @@ TOPICS = {
 }
 
 
-def _available_topics(topics_cfg):
-    """Filter TOPICS to only services this cereal schema knows about.
-
-    Lets dragonpilot-specific topics like controlsStateExt drop out
-    cleanly on a vanilla openpilot schema instead of crashing SubMaster.
-    Topics that drop out keep their default cache value (see 'default'
-    in the TOPICS entry), which the frontend already null-checks.
-    """
-    try:
-        from cereal.services import SERVICE_LIST as _services
-    except ImportError:
-        try:
-            from cereal.services import services as _services
-        except ImportError:
-            return topics_cfg
-
-    out = {}
-    for name, cfg in topics_cfg.items():
-        if name in _services:
-            out[name] = cfg
-        else:
-            cloudlog.info(f"dashyd: cereal service '{name}' not available, skipping")
-    return out
-
-
 def main():
     cloudlog.info("dashyd: starting")
 
     # Initialize metric preference
     refresh_metric_preference()
 
-    topics = _available_topics(TOPICS)
+    # Derive services list from TOPICS config
-
+    services = list(TOPICS.keys())
-    # Derive services list from filtered topics
-    services = list(topics.keys())
     sm = messaging.SubMaster(services)
     pm = messaging.PubMaster(['dashyState'])
     rk = Ratekeeper(LOOP_RATE)
 
-    # Initialize cache from TOPICS defaults (always include all topics so
+    # Initialize cache from TOPICS defaults (exclude subscribe-only topics)
-    # the frontend gets default values for dropped optional ones too).
     cache = {t: cfg.get('default') for t, cfg in TOPICS.items() if cfg.get('rate') != 'subscribe'}
     cache['carParams'] = get_car_params_from_params()  # special: init from Params
 
-    # Build topic lists from the filtered topics (only subscribed ones run their extractors)
+    # Build topic lists from TOPICS config
-    fast_topics = {t: cfg['extractor'] for t, cfg in topics.items() if cfg.get('rate') == 'fast'}
+    fast_topics = {t: cfg['extractor'] for t, cfg in TOPICS.items() if cfg.get('rate') == 'fast'}
-    slow_topics = {t: (cfg['extractor'], cfg['rate']) for t, cfg in topics.items()
+    slow_topics = {t: (cfg['extractor'], cfg['rate']) for t, cfg in TOPICS.items()
                    if isinstance(cfg.get('rate'), int)}
-    valid_topics = [t for t, cfg in topics.items() if cfg.get('rate') == 'valid']
+    valid_topics = [t for t, cfg in TOPICS.items() if cfg.get('rate') == 'valid']
 
     cache_dirty = True
     frame_count = 0
@@ -515,7 +568,7 @@ def main():
 
         # Only serialize and publish if something changed
         if cache_dirty:
-            # Only publish when critical openpilot data exists
+            # Only publish when critical data exists (nav data can be null)
             critical_ready = (
                 cache.get('carState') is not None and
                 cache.get('modelV2') is not None and

dragonpilot/dashy/gpsd.py

@@ -0,0 +1,423 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+GPS Location Service - GPS + livePose fusion with Kalman filter.
+- Position: 2D Kalman filter fusing GPS with livePose velocity
+- Bearing: livePose yaw + GPS-calibrated offset (with slow drift correction)
+"""
+import numpy as np
+from cereal import messaging, custom
+
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.transformations.coordinates import LocalCoord
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.gps import get_gps_location_service
+
+
+def wrap_angle(x):
+  return np.arctan2(np.sin(x), np.cos(x))
+
+
+class GPSKalman:
+  """
+  3D Kalman filter for GPS fusion.
+  State: [north, east, yaw_offset] where yaw_offset calibrates livePose to true north.
+  Adapts automatically to GPS accuracy (ublox vs qcom).
+  """
+  # Process noise
+  POS_NOISE = 0.5      # m²/s - position uncertainty growth
+  YAW_NOISE = 0.0001   # rad²/s - yaw offset drift (~0.6°/min)
+
+  def __init__(self):
+    self.x = np.zeros(3)         # [north, east, yaw_offset]
+    self.P = np.diag([100.0, 100.0, 1.0])  # uncertainty (position high, yaw moderate)
+
+  def get_yaw(self, pose_yaw):
+    """Get calibrated yaw from pose yaw + estimated offset."""
+    return wrap_angle(pose_yaw + self.x[2])
+
+  def predict(self, vel_ned, dt):
+    """Predict state using velocity from livePose."""
+    # Position prediction
+    self.x[0] += vel_ned[0] * dt
+    self.x[1] += vel_ned[1] * dt
+    # yaw_offset: no change (constant), just add process noise
+
+    # Process noise - more yaw drift when stopped (gyro drift accumulates)
+    speed = np.linalg.norm(vel_ned[:2])
+    yaw_noise = self.YAW_NOISE if speed > 1.0 else self.YAW_NOISE * 10
+    Q = np.diag([self.POS_NOISE * dt, self.POS_NOISE * dt, yaw_noise * dt])
+    self.P += Q
+
+  def update_position(self, gps_ned, gps_accuracy):
+    """Update position with GPS measurement."""
+    # Observation matrix: observe [north, east], not yaw_offset
+    H = np.array([[1, 0, 0],
+                  [0, 1, 0]])
+
+    # Measurement noise from GPS accuracy
+    R = np.eye(2) * (gps_accuracy ** 2)
+
+    # Innovation
+    z = gps_ned[:2]
+    y = z - H @ self.x
+
+    # Kalman gain
+    S = H @ self.P @ H.T + R
+    det = S[0, 0] * S[1, 1] - S[0, 1] * S[1, 0]
+    if abs(det) < 1e-10:
+      return
+    S_inv = np.array([[S[1, 1], -S[0, 1]],
+                      [-S[1, 0], S[0, 0]]]) / det
+    K = self.P @ H.T @ S_inv
+
+    # Update
+    self.x += K @ y
+    self.P = (np.eye(3) - K @ H) @ self.P
+    self._ensure_positive_definite()
+
+  def update_yaw(self, gps_bearing, pose_yaw, bearing_std):
+    """Update yaw_offset with GPS bearing measurement."""
+    # Observation: yaw_offset = gps_bearing - pose_yaw
+    # H = [0, 0, 1] - we observe yaw_offset directly
+    H = np.array([[0, 0, 1]])
+
+    # Measurement noise from GPS bearing uncertainty
+    R = np.array([[bearing_std ** 2]])
+
+    # Expected yaw_offset from GPS
+    observed_offset = wrap_angle(gps_bearing - pose_yaw)
+
+    # Innovation (handle angle wrapping)
+    predicted_offset = self.x[2]
+    y = np.array([wrap_angle(observed_offset - predicted_offset)])
+
+    # Kalman gain
+    S = H @ self.P @ H.T + R
+    K = self.P @ H.T / S[0, 0]
+
+    # Update
+    self.x += (K @ y).flatten()
+    self.x[2] = wrap_angle(self.x[2])  # keep yaw_offset wrapped
+    self.P = (np.eye(3) - K @ H) @ self.P
+    self._ensure_positive_definite()
+
+  def _ensure_positive_definite(self):
+    """Ensure covariance stays positive definite. Reinit if corrupted."""
+    self.P = (self.P + self.P.T) / 2
+    if np.any(np.diag(self.P) < 0):
+      cloudlog.warning("gpsd: negative covariance detected, reinitializing filter")
+      self.P = np.diag([100.0, 100.0, 1.0])
+      return
+    min_var = np.array([0.01, 0.01, 0.0001])  # minimum variances
+    for i in range(3):
+      self.P[i, i] = max(self.P[i, i], min_var[i])
+
+  def reset(self, pos, yaw_offset=None):
+    """Reset to known position, optionally with yaw offset."""
+    self.x[0] = pos[0]
+    self.x[1] = pos[1]
+    if yaw_offset is not None:
+      self.x[2] = yaw_offset
+      self.P = np.diag([1.0, 1.0, 0.1])  # low uncertainty
+    else:
+      self.P = np.diag([1.0, 1.0, self.P[2, 2]])  # keep yaw uncertainty
+
+  @property
+  def pos(self):
+    """Position [north, east]."""
+    return self.x[:2]
+
+  @property
+  def yaw_offset(self):
+    """Yaw offset estimate."""
+    return self.x[2]
+
+  @property
+  def pos_uncertainty(self):
+    """Position uncertainty (meters)."""
+    return np.sqrt(max(0.0, (self.P[0, 0] + self.P[1, 1]) / 2))
+
+  @property
+  def yaw_uncertainty(self):
+    """Yaw offset uncertainty (radians)."""
+    return np.sqrt(max(0.0, self.P[2, 2]))
+
+
+class LiveGPS:
+  """
+  GPS + livePose fusion with 3D Kalman filter.
+  - Position: Kalman filter fusing GPS with livePose velocity
+  - Bearing: Kalman-estimated yaw_offset + livePose yaw
+  """
+  GPS_MIN_SPEED = 5.0             # m/s (18 km/h) - need speed for reliable GPS bearing
+  GPS_MAX_ACCURACY = 50.0         # m - reject very bad GPS
+  BEARING_STD_BASE = 0.1          # rad (~6°) - base GPS bearing uncertainty
+  BEARING_STD_PER_ACC = 0.02      # rad per meter of GPS accuracy
+
+  def __init__(self):
+    # pose inputs
+    self.orientation_ned = np.zeros(3)
+    self.vel_device = np.zeros(3)
+
+    # gps inputs
+    self.gps = None
+    self.last_gps_t = 0.0
+    self.unix_timestamp_millis = 0
+
+    # Kalman filter: [north, east, yaw_offset]
+    self.origin = None            # LocalCoord of first GPS fix
+    self.kf = GPSKalman()         # 3D Kalman filter
+    self.altitude = 0.0           # altitude tracked separately (1D)
+    self.last_gps_update_t = 0.0  # track when we last updated Kalman with GPS
+
+    # timing
+    self.last_t = None
+    self.last_pose_yaw = None     # for yaw rate calculation
+    self.live_pose_ok = False     # for monitoring
+
+  # -----------------------------
+  # inputs
+  # -----------------------------
+
+  def handle_pose(self, pose):
+    if pose.orientationNED.valid:
+      self.orientation_ned[:] = [
+        pose.orientationNED.x,
+        pose.orientationNED.y,
+        pose.orientationNED.z,
+      ]
+    if pose.velocityDevice.valid:
+      self.vel_device[:] = [
+        pose.velocityDevice.x,
+        pose.velocityDevice.y,
+        pose.velocityDevice.z,
+      ]
+    # For monitoring
+    self.live_pose_ok = pose.orientationNED.valid and pose.velocityDevice.valid
+
+  def handle_gps(self, t, gps):
+    if gps.horizontalAccuracy > 0 and gps.horizontalAccuracy > self.GPS_MAX_ACCURACY:
+      return
+    if abs(gps.latitude) < 0.1 or abs(gps.longitude) < 0.1:
+      return
+
+    self.gps = gps
+    self.last_gps_t = t
+    self.unix_timestamp_millis = gps.unixTimestampMillis
+
+  # -----------------------------
+  # core update
+  # -----------------------------
+
+  def update(self, t):
+    dt = (t - self.last_t) if self.last_t else 0.05
+    self.last_t = t
+
+    if self.gps is None:
+      return
+
+    # initialize origin on first GPS
+    if self.origin is None:
+      self.origin = LocalCoord.from_geodetic([self.gps.latitude, self.gps.longitude, self.gps.altitude])
+      self.kf.reset(np.zeros(2))
+      self.altitude = self.gps.altitude
+      cloudlog.info(f"gpsd: origin set at {self.gps.latitude:.6f}, {self.gps.longitude:.6f}")
+      return
+
+    # get current yaw from Kalman (pose_yaw + estimated yaw_offset)
+    pose_yaw = self.orientation_ned[2]
+    yaw = self.kf.get_yaw(pose_yaw)
+
+    # transform velocity from device frame to NED
+    cos_yaw, sin_yaw = np.cos(yaw), np.sin(yaw)
+    vel_ned = np.array([
+      self.vel_device[0] * cos_yaw - self.vel_device[1] * sin_yaw,
+      self.vel_device[0] * sin_yaw + self.vel_device[1] * cos_yaw,
+      -self.vel_device[2]
+    ])
+
+    # Kalman predict: propagate position using livePose velocity
+    # Skip prediction when stationary (GPS wanders, IMU drifts)
+    # Threshold 0.1 m/s - above noise (~0.04) but catches actual stops
+    speed = np.linalg.norm(self.vel_device[:2])
+    is_moving = speed > 0.1
+    if is_moving:
+      self.kf.predict(vel_ned, dt)
+
+    # Kalman update: only on NEW GPS data (not stale)
+    # Skip position update when stopped - prevents GPS wander from moving position
+    new_gps = self.last_gps_t > self.last_gps_update_t
+    if new_gps and is_moving:
+      self.last_gps_update_t = self.last_gps_t
+      gps_ned = self.origin.geodetic2ned([self.gps.latitude, self.gps.longitude, self.gps.altitude])
+      gps_accuracy = self.gps.horizontalAccuracy if self.gps.horizontalAccuracy > 0 else 15.0
+
+      # Check for hard reset (large error after tunnel/GPS loss)
+      error = np.linalg.norm(gps_ned[:2] - self.kf.pos)
+      if error > 100.0 and gps_accuracy < 20.0:
+        # GPS is good but we're far off - full reset (new origin, fresh Kalman)
+        yaw_err_deg = np.degrees(self.kf.yaw_uncertainty)
+        cloudlog.warning(f"gpsd: hard reset, error={error:.1f}m, yaw_unc={yaw_err_deg:.1f}°, gps_acc={gps_accuracy:.1f}m, livePoseOk={self.live_pose_ok}")
+        # Reset origin to current GPS - starts fresh
+        self.origin = LocalCoord.from_geodetic([self.gps.latitude, self.gps.longitude, self.gps.altitude])
+        self.kf = GPSKalman()  # fresh Kalman filter
+        self.kf.reset(np.zeros(2))  # position (0,0) at new origin
+        self.altitude = self.gps.altitude
+        return  # skip normal update this frame
+      else:
+        # Position update - adapts to GPS accuracy:
+        # - ublox (2-5m): high gain, trusts GPS
+        # - qcom (10-30m): low gain, trusts IMU more
+        self.kf.update_position(gps_ned, gps_accuracy)
+
+      # simple altitude tracking (no Kalman needed)
+      self.altitude = 0.9 * self.altitude + 0.1 * self.gps.altitude
+
+      # Yaw update (need speed for reliable GPS bearing)
+      if self.gps.speed > self.GPS_MIN_SPEED:
+        # compute yaw rate to check if driving straight
+        yaw_rate = 0.0
+        if self.last_pose_yaw is not None and dt > 0:
+          yaw_rate = abs(wrap_angle(pose_yaw - self.last_pose_yaw)) / dt
+
+        # GPS bearing is unreliable during turns - increase uncertainty
+        gps_bearing = np.radians(self.gps.bearingDeg)
+        bearing_std = self.BEARING_STD_BASE + self.BEARING_STD_PER_ACC * gps_accuracy
+        if yaw_rate > 0.1:  # turning - GPS bearing lags
+          bearing_std *= 3.0
+
+        self.kf.update_yaw(gps_bearing, pose_yaw, bearing_std)
+
+    self.last_pose_yaw = pose_yaw
+
+  # -----------------------------
+  # output
+  # -----------------------------
+
+  def get_msg(self, log_mono_time):
+    msg = messaging.new_message("liveGPS", valid=True)
+    msg.logMonoTime = log_mono_time
+    out = msg.liveGPS
+
+    t = log_mono_time * 1e-9
+    gps_fresh = self.gps is not None and (t - self.last_gps_t) < 5.0
+    pos_initialized = self.origin is not None
+    # yaw is calibrated when uncertainty < 0.5 rad (~30°)
+    yaw_calibrated = self.kf.yaw_uncertainty < 0.5
+
+    if pos_initialized:
+      # position from Kalman filter (NED -> geodetic)
+      pos_ned = np.array([self.kf.pos[0], self.kf.pos[1], self.altitude])
+      geodetic = self.origin.ned2geodetic(pos_ned)
+      out.latitude = float(geodetic[0])
+      out.longitude = float(geodetic[1])
+      out.altitude = float(geodetic[2])
+      out.speed = float(np.linalg.norm(self.vel_device[:2]))
+
+      # horizontalAccuracy from Kalman uncertainty
+      out.horizontalAccuracy = float(self.kf.pos_uncertainty)
+      out.verticalAccuracy = float(self.gps.verticalAccuracy) if hasattr(self.gps, 'verticalAccuracy') and self.gps.verticalAccuracy > 0 else 15.0
+
+      # bearing from Kalman (pose_yaw + estimated yaw_offset)
+      has_livePose = np.any(self.orientation_ned != 0)
+      if yaw_calibrated and has_livePose and gps_fresh:
+        yaw = self.kf.get_yaw(self.orientation_ned[2])
+        out.bearingDeg = float(np.degrees(yaw) % 360)
+        out.status = custom.LiveGPS.Status.valid
+      else:
+        # fallback to raw GPS bearing
+        out.bearingDeg = float(self.gps.bearingDeg)
+        out.status = custom.LiveGPS.Status.uncalibrated
+    elif self.gps is not None:
+      # have GPS but not initialized yet - pass through raw
+      out.latitude = float(self.gps.latitude)
+      out.longitude = float(self.gps.longitude)
+      out.altitude = float(self.gps.altitude)
+      out.speed = float(self.gps.speed)
+      out.bearingDeg = float(self.gps.bearingDeg)
+      out.horizontalAccuracy = float(self.gps.horizontalAccuracy) if self.gps.horizontalAccuracy > 0 else 20.0
+      out.status = custom.LiveGPS.Status.uncalibrated
+    else:
+      out.status = custom.LiveGPS.Status.uninitialized
+
+    # gpsOK = position is usable (bearing calibration tracked separately via status)
+    out.gpsOK = gps_fresh and pos_initialized
+    out.unixTimestampMillis = self.unix_timestamp_millis
+    out.lastGpsTimestamp = int(self.last_gps_t * 1e9)
+
+    # livePose health - for monitoring
+    out.livePoseOk = self.live_pose_ok
+
+    return msg
+
+def main():
+  import os
+  params = Params()
+
+  # EXT=1 forces gpsLocationExternal (ublox), EXT=0 forces gpsLocation (qcom)
+  ext_override = os.environ.get("EXT")
+  if ext_override == "1":
+    gps_service = "gpsLocationExternal"
+    cloudlog.info("gpsd: EXT=1, using gpsLocationExternal (ublox)")
+  elif ext_override == "0":
+    gps_service = "gpsLocation"
+    cloudlog.info("gpsd: EXT=0, using gpsLocation (qcom)")
+  else:
+    gps_service = get_gps_location_service(params)
+
+  pm = messaging.PubMaster(["liveGPS"])
+  sm = messaging.SubMaster([gps_service, "livePose"], ignore_alive=[gps_service])
+
+  gps = LiveGPS()
+  rk = Ratekeeper(20)
+
+  while True:
+    try:
+      sm.update(0)
+
+      if sm.logMonoTime["livePose"] > 0:
+        t = sm.logMonoTime["livePose"] * 1e-9
+        log_mono_time = sm.logMonoTime["livePose"]
+      else:
+        log_mono_time = int(rk.frame * 1e9 / 20)
+        t = log_mono_time * 1e-9
+
+      if sm.updated[gps_service]:
+        gps.handle_gps(t, sm[gps_service])
+
+      if sm.updated["livePose"] and sm.valid["livePose"]:
+        gps.handle_pose(sm["livePose"])
+
+      gps.update(t)
+      pm.send("liveGPS", gps.get_msg(log_mono_time))
+
+    except Exception:
+      cloudlog.exception("gpsd: error in main loop")
+
+    rk.keep_time()
+
+
+if __name__ == "__main__":
+  main()

dragonpilot/dashy/maa/__init__.py

@@ -0,0 +1,30 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+dragonpilot Map-Aware Assist (MAA)
+
+Navigation-assisted driving module that provides:
+- Route tracking and turn-by-turn navigation
+- Turn speed limits based on road curvature
+- Blinker-based turn desire for lane changes
+- Physics-based acceleration limiting
+"""

dragonpilot/dashy/maa/helpers.py

@@ -0,0 +1,657 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Navigation helpers for dragonpilot MAA.
+
+Coordinate math, route parsing, and curvature computation utilities.
+"""
+from __future__ import annotations
+
+import json
+import math
+from typing import Any, cast
+
+from opendbc.car.common.conversions import Conversions
+from openpilot.common.params import Params
+
+DIRECTIONS = ('left', 'right', 'straight')
+MODIFIABLE_DIRECTIONS = ('left', 'right')
+EARTH_MEAN_RADIUS = 6371007.2
+
+# Speed unit conversions to m/s
+SPEED_CONVERSIONS = {
+  'km/h': Conversions.KPH_TO_MS,
+  'mph': Conversions.MPH_TO_MS,
+}
+
+
+class Coordinate:
+  def __init__(self, latitude: float, longitude: float) -> None:
+    self.latitude = latitude
+    self.longitude = longitude
+    self.annotations: dict[str, float] = {}
+
+  @classmethod
+  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
+    return cls(t[1], t[0])
+
+  @classmethod
+  def from_osrm_tuple(cls, t: list[float]) -> Coordinate:
+    """OSRM uses [lon, lat] order."""
+    return cls(t[1], t[0])
+
+  def as_dict(self) -> dict[str, float]:
+    return {'latitude': self.latitude, 'longitude': self.longitude}
+
+  def __str__(self) -> str:
+    return f'Coordinate({self.latitude}, {self.longitude})'
+
+  def __repr__(self) -> str:
+    return self.__str__()
+
+  def __eq__(self, other) -> bool:
+    if not isinstance(other, Coordinate):
+      return False
+    return self.latitude == other.latitude and self.longitude == other.longitude
+
+  def __hash__(self) -> int:
+    return hash((self.latitude, self.longitude))
+
+  def __sub__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
+
+  def __add__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
+
+  def __mul__(self, c: float) -> Coordinate:
+    return Coordinate(self.latitude * c, self.longitude * c)
+
+  def dot(self, other: Coordinate) -> float:
+    return self.latitude * other.latitude + self.longitude * other.longitude
+
+  def distance_to(self, other: Coordinate) -> float:
+    """Haversine distance in meters."""
+    dlat = math.radians(other.latitude - self.latitude)
+    dlon = math.radians(other.longitude - self.longitude)
+
+    haversine_dlat = math.sin(dlat / 2.0)
+    haversine_dlat *= haversine_dlat
+    haversine_dlon = math.sin(dlon / 2.0)
+    haversine_dlon *= haversine_dlon
+
+    y = haversine_dlat \
+        + math.cos(math.radians(self.latitude)) \
+        * math.cos(math.radians(other.latitude)) \
+        * haversine_dlon
+    x = 2 * math.asin(math.sqrt(y))
+    return x * EARTH_MEAN_RADIUS
+
+  def bearing_to(self, other: Coordinate) -> float:
+    """Bearing to other coordinate in degrees (0-360)."""
+    lat1, lat2 = math.radians(self.latitude), math.radians(other.latitude)
+    dlon = math.radians(other.longitude - self.longitude)
+    x = math.sin(dlon) * math.cos(lat2)
+    y = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dlon)
+    bearing = math.degrees(math.atan2(x, y))
+    return (bearing + 360) % 360
+
+
+def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate) -> float:
+  """Minimum distance from point p to line segment ab."""
+  if a.distance_to(b) < 0.01:
+    return a.distance_to(p)
+
+  ap = p - a
+  ab = b - a
+  t = max(0.0, min(1.0, ap.dot(ab) / ab.dot(ab)))
+  projection = a + ab * t
+  return projection.distance_to(p)
+
+
+def project_onto_segment(a: Coordinate, b: Coordinate, p: Coordinate) -> tuple[Coordinate, float, float]:
+  """Project point p onto line segment ab (snap to road).
+
+  Returns:
+    (projected_point, t, distance) where:
+    - projected_point: the closest point on segment ab to p
+    - t: parameter 0-1 indicating position along segment (0=a, 1=b)
+    - distance: distance from p to the projected point
+  """
+  seg_len = a.distance_to(b)
+  if seg_len < 0.01:
+    return a, 0.0, a.distance_to(p)
+
+  ap = p - a
+  ab = b - a
+  t = max(0.0, min(1.0, ap.dot(ab) / ab.dot(ab)))
+  projection = a + ab * t
+  return projection, t, projection.distance_to(p)
+
+
+def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
+  """Calculate distance traveled along geometry from start to closest point to pos."""
+  if len(geometry) <= 2:
+    return geometry[0].distance_to(pos)
+
+  total_distance = 0.0
+  total_distance_closest = 0.0
+  closest_distance = 1e9
+
+  for i in range(len(geometry) - 1):
+    d = minimum_distance(geometry[i], geometry[i + 1], pos)
+
+    if d < closest_distance:
+      closest_distance = d
+      total_distance_closest = total_distance + geometry[i].distance_to(pos)
+
+    total_distance += geometry[i].distance_to(geometry[i + 1])
+
+  return total_distance_closest
+
+
+def normalize_angle(angle: float) -> float:
+  """Normalize angle to -180 to 180 degrees."""
+  while angle > 180:
+    angle -= 360
+  while angle < -180:
+    angle += 360
+  return angle
+
+
+def calculate_turn_angle(
+  current_geometry: list[Coordinate],
+  next_geometry: list[Coordinate],
+  samples: int = 3
+) -> float:
+  """
+  Calculate turn angle between two road segments.
+
+  Uses the bearing of the end of current geometry vs the bearing
+  of the start of next geometry to determine turn angle.
+
+  Args:
+    current_geometry: Coordinates of current road segment (before turn)
+    next_geometry: Coordinates of next road segment (after turn)
+    samples: Number of points to use for bearing calculation (for stability)
+
+  Returns:
+    Turn angle in degrees. Positive = left turn, negative = right turn.
+    Example: 90 = 90° left turn, -90 = 90° right turn
+  """
+  if len(current_geometry) < 2 or len(next_geometry) < 2:
+    return 0.0
+
+  # Get bearing of current road (last segment)
+  # Use last few points for stability
+  start_idx = max(0, len(current_geometry) - samples)
+  current_bearing = current_geometry[start_idx].bearing_to(current_geometry[-1])
+
+  # Get bearing of next road (first segment)
+  # Use first few points for stability
+  end_idx = min(samples, len(next_geometry) - 1)
+  next_bearing = next_geometry[0].bearing_to(next_geometry[end_idx])
+
+  # Calculate turn angle (positive = left, negative = right)
+  # This matches openpilot convention where left is positive curvature
+  angle = normalize_angle(current_bearing - next_bearing)
+
+  return angle
+
+
+def coordinate_from_param(key: str, params: Params = None) -> Coordinate | None:
+  """Read coordinate from params.
+
+  Handles both JSON type params (returns dict) and STRING type params (returns string).
+  """
+  if params is None:
+    params = Params()
+
+  try:
+    value = params.get(key)
+    if value is None:
+      return None
+
+    # JSON type params return dict directly, STRING type needs json.loads()
+    if isinstance(value, str):
+      pos = json.loads(value)
+    else:
+      pos = value
+
+    if 'latitude' not in pos or 'longitude' not in pos:
+      return None
+
+    return Coordinate(pos['latitude'], pos['longitude'])
+  except (json.JSONDecodeError, KeyError, TypeError):
+    return None
+
+
+def find_closest_point_on_route(pos: Coordinate, route_coords: list[Coordinate]) -> tuple[int, float]:
+  """Find closest point index and distance on route."""
+  if not route_coords:
+    return 0, float('inf')
+
+  min_dist = float('inf')
+  closest_idx = 0
+
+  for i in range(len(route_coords) - 1):
+    # Check distance to segment, not just point
+    d = minimum_distance(route_coords[i], route_coords[i + 1], pos)
+    if d < min_dist:
+      min_dist = d
+      closest_idx = i
+
+  return closest_idx, min_dist
+
+
+def calculate_remaining_distance(route_coords: list[Coordinate], from_idx: int) -> float:
+  """Calculate remaining distance along route from index."""
+  if from_idx >= len(route_coords) - 1:
+    return 0.0
+
+  total = 0.0
+  for i in range(from_idx, len(route_coords) - 1):
+    total += route_coords[i].distance_to(route_coords[i + 1])
+  return total
+
+
+# --- Instruction Parsing ---
+
+def string_to_direction(direction: str) -> str:
+  """Convert direction string to standard format."""
+  for d in DIRECTIONS:
+    if d in direction:
+      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'slight' + d.capitalize()
+      return d
+  return 'none'
+
+
+def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
+  """Convert speed limit dict to m/s."""
+  unit = cast(str, maxspeed['unit'])
+  speed = cast(float, maxspeed['speed'])
+  return SPEED_CONVERSIONS.get(unit, 1.0) * speed
+
+
+def field_valid(dat: dict, field: str) -> bool:
+  """Check if field exists and is not None."""
+  return field in dat and dat[field] is not None
+
+
+def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
+  """Parse Mapbox/OSRM banner instructions."""
+  if not banners or not len(banners):
+    return None
+
+  instruction = {}
+
+  # A segment can contain multiple banners, find one that we need to show now
+  current_banner = banners[0]
+  for banner in banners:
+    if distance_to_maneuver < banner.get('distanceAlongGeometry', 0):
+      current_banner = banner
+
+  # Only show banner when close enough to maneuver
+  instruction['showFull'] = distance_to_maneuver < current_banner.get('distanceAlongGeometry', 0)
+
+  # Primary
+  p = current_banner.get('primary', {})
+  if field_valid(p, 'text'):
+    instruction['maneuverPrimaryText'] = p['text']
+  if field_valid(p, 'type'):
+    instruction['maneuverType'] = p['type']
+  if field_valid(p, 'modifier'):
+    instruction['maneuverModifier'] = p['modifier']
+
+  # Secondary
+  if field_valid(current_banner, 'secondary'):
+    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
+
+  # Lane lines
+  if field_valid(current_banner, 'sub'):
+    lanes = []
+    for component in current_banner['sub'].get('components', []):
+      if component.get('type') != 'lane':
+        continue
+
+      lane = {
+        'active': component.get('active', False),
+        'directions': [string_to_direction(d) for d in component.get('directions', [])],
+      }
+
+      if field_valid(component, 'active_direction'):
+        lane['activeDirection'] = string_to_direction(component['active_direction'])
+
+      lanes.append(lane)
+    instruction['lanes'] = lanes
+
+  return instruction
+
+
+def parse_osrm_step(step: dict) -> dict[str, Any]:
+  """Parse OSRM route step into instruction format."""
+  maneuver = step.get('maneuver', {})
+  instruction = {
+    'distance': step.get('distance', 0),
+    'duration': step.get('duration', 0),
+    'name': step.get('name', ''),
+    'maneuverType': maneuver.get('type', ''),
+    'maneuverModifier': maneuver.get('modifier', ''),
+    'location': maneuver.get('location', []),  # [lon, lat]
+  }
+  return instruction
+
+
+def classify_maneuver(maneuver_type: str, maneuver_modifier: str) -> str:
+  """
+  Classify OSRM maneuver as 'turn' or 'laneChange'.
+
+  Highway exits/forks use laneChange desires (smoother).
+  Intersection turns use turn desires (sharper).
+
+  OSRM maneuver types:
+  - turn: regular intersection turn
+  - fork: highway split/junction
+  - off ramp: highway exit
+  - on ramp: highway entrance
+  - merge: merging lanes
+  - roundabout turn: roundabout exit
+  - exit roundabout: leaving roundabout
+  - continue: straight (no maneuver)
+  - depart/arrive: start/end
+
+  Returns:
+    'turn' for intersection turns
+    'laneChange' for highway exits/forks
+    'none' for straight/no maneuver
+  """
+  maneuver_type = maneuver_type.lower()
+  maneuver_modifier = maneuver_modifier.lower()
+
+  # Highway exits and forks -> lane change desire
+  LANE_CHANGE_TYPES = {
+    'fork',           # highway fork/split
+    'off ramp',       # highway exit
+    'on ramp',        # highway entrance
+    'merge',          # merging
+    'exit rotary',    # leaving rotary
+    'exit roundabout',# leaving roundabout
+  }
+
+  # Intersection turns -> turn desire
+  TURN_TYPES = {
+    'turn',           # regular turn
+    'end of road',    # forced turn at end of road
+    'rotary',         # entering rotary
+    'roundabout',     # entering roundabout
+    'roundabout turn',# turn within roundabout
+  }
+
+  # No maneuver
+  NO_MANEUVER_TYPES = {
+    'continue',
+    'depart',
+    'arrive',
+    'new name',
+    'notification',
+  }
+
+  if maneuver_type in LANE_CHANGE_TYPES:
+    return 'laneChange'
+
+  if maneuver_type in TURN_TYPES:
+    # For turns, check modifier - slight turns at highway speeds might be lane changes
+    if 'slight' in maneuver_modifier:
+      # Slight turns could be either - default to turn but could be lane change
+      # CarrotPilot uses additional context like road speed limit
+      return 'turn'
+    return 'turn'
+
+  if maneuver_type in NO_MANEUVER_TYPES:
+    return 'none'
+
+  # Unknown type - default to turn
+  return 'turn'
+
+
+def get_turn_direction(maneuver_modifier: str) -> str:
+  """
+  Get turn direction from OSRM maneuver modifier.
+
+  Returns:
+    'left', 'right', or 'none'
+  """
+  modifier = maneuver_modifier.lower()
+  if 'left' in modifier:
+    return 'left'
+  if 'right' in modifier:
+    return 'right'
+  return 'none'
+
+
+# --- Curvature Computation ---
+
+def compute_path_curvature(pos: Coordinate, bearing: float, route_coords: list[Coordinate],
+                           closest_idx: int, v_ego: float, lookahead_time: float = 2.5) -> float:
+  """
+  Compute desired curvature from route geometry using pure pursuit.
+
+  Args:
+    pos: Current position
+    bearing: Current heading in degrees
+    route_coords: List of route coordinates
+    closest_idx: Index of closest point on route
+    v_ego: Current vehicle speed m/s
+    lookahead_time: How far ahead to look in seconds
+
+  Returns:
+    Desired curvature in 1/m (positive = left turn, negative = right turn)
+  """
+  if not route_coords or closest_idx >= len(route_coords) - 1:
+    return 0.0
+
+  # Calculate lookahead distance (min 30m, based on speed)
+  lookahead_dist = max(v_ego * lookahead_time, 30.0)
+
+  # Find lookahead point along route
+  dist_traveled = 0.0
+  lookahead_idx = closest_idx
+
+  for i in range(closest_idx, len(route_coords) - 1):
+    segment_dist = route_coords[i].distance_to(route_coords[i + 1])
+    if dist_traveled + segment_dist >= lookahead_dist:
+      # Interpolate within segment
+      remaining = lookahead_dist - dist_traveled
+      ratio = remaining / segment_dist if segment_dist > 0 else 0
+      lookahead_idx = i
+      # Could interpolate here, but using next point is simpler
+      if ratio > 0.5:
+        lookahead_idx = i + 1
+      break
+    dist_traveled += segment_dist
+    lookahead_idx = i + 1
+
+  if lookahead_idx >= len(route_coords):
+    lookahead_idx = len(route_coords) - 1
+
+  lookahead_point = route_coords[lookahead_idx]
+
+  # Calculate desired heading to lookahead point
+  desired_bearing = pos.bearing_to(lookahead_point)
+
+  # Calculate heading error (normalized to -180 to 180)
+  heading_error = desired_bearing - bearing
+  if heading_error > 180:
+    heading_error -= 360
+  elif heading_error < -180:
+    heading_error += 360
+
+  # Convert heading error to yaw (radians)
+  yaw_error = math.radians(heading_error)
+
+  # Distance to lookahead point
+  dist_to_lookahead = pos.distance_to(lookahead_point)
+  if dist_to_lookahead < 1.0:
+    return 0.0
+
+  # Pure pursuit curvature: 2 * sin(yaw_error) / lookahead_distance
+  # Note: Negative because heading_error > 0 means target is to the RIGHT (clockwise),
+  # and right turn should produce negative curvature
+  curvature = -2.0 * math.sin(yaw_error) / dist_to_lookahead
+
+  # Clamp to reasonable values (max ~7m radius turn)
+  MAX_CURVATURE = 0.15
+  return max(-MAX_CURVATURE, min(MAX_CURVATURE, curvature))
+
+
+def smooth_curvature(new_curv: float, prev_curv: float, alpha: float = 0.3) -> float:
+  """Exponential smoothing for curvature."""
+  return alpha * new_curv + (1 - alpha) * prev_curv
+
+
+def curvature_to_radius(curvature: float) -> float:
+  """Convert curvature to turn radius in meters."""
+  if abs(curvature) < 0.001:
+    return float('inf')
+  return 1.0 / abs(curvature)
+
+
+def compute_turn_angle_at_index(route_coords: list[Coordinate], turn_idx: int,
+                                 sample_dist: float = 20.0) -> float:
+  """
+  Compute turn angle at a specific point on the route.
+  Uses points sample_dist meters before and after for stability.
+  Returns angle in degrees (positive = left, negative = right).
+  """
+  if turn_idx < 1 or turn_idx >= len(route_coords) - 1:
+    return 0.0
+
+  # Find points ~sample_dist before and after the turn for stable bearing
+  before_idx = turn_idx
+  after_idx = turn_idx
+
+  # Walk backwards to find before point
+  dist = 0.0
+  for i in range(turn_idx, 0, -1):
+    dist += route_coords[i].distance_to(route_coords[i - 1])
+    if dist >= sample_dist:
+      before_idx = i - 1
+      break
+  else:
+    before_idx = 0
+
+  # Walk forwards to find after point
+  dist = 0.0
+  for i in range(turn_idx, len(route_coords) - 1):
+    dist += route_coords[i].distance_to(route_coords[i + 1])
+    if dist >= sample_dist:
+      after_idx = i + 1
+      break
+  else:
+    after_idx = len(route_coords) - 1
+
+  if before_idx == turn_idx or after_idx == turn_idx:
+    return 0.0
+
+  # Calculate bearings using the sampled points
+  p1 = route_coords[before_idx]
+  p2 = route_coords[turn_idx]
+  p3 = route_coords[after_idx]
+
+  bearing1 = p1.bearing_to(p2)
+  bearing2 = p2.bearing_to(p3)
+
+  # Angle difference (positive = left, negative = right)
+  angle = bearing1 - bearing2
+
+  # Normalize to -180 to 180
+  while angle > 180:
+    angle -= 360
+  while angle < -180:
+    angle += 360
+
+  return angle
+
+
+def compute_turn_curvature_at_index(route_coords: list[Coordinate], turn_idx: int,
+                                     sample_dist: float = 15.0) -> float:
+  """
+  Compute curvature at turn point using three-point circle fitting.
+  Returns curvature in 1/m (positive = left, negative = right).
+  """
+  if turn_idx < 1 or turn_idx >= len(route_coords) - 1:
+    return 0.0
+
+  # Find points sample_dist before and after
+  before_idx = turn_idx
+  after_idx = turn_idx
+
+  dist = 0.0
+  for i in range(turn_idx, 0, -1):
+    dist += route_coords[i].distance_to(route_coords[i - 1])
+    if dist >= sample_dist:
+      before_idx = i - 1
+      break
+
+  dist = 0.0
+  for i in range(turn_idx, len(route_coords) - 1):
+    dist += route_coords[i].distance_to(route_coords[i + 1])
+    if dist >= sample_dist:
+      after_idx = i + 1
+      break
+
+  if before_idx == turn_idx or after_idx == turn_idx:
+    return 0.0
+
+  # Three points for circle fitting
+  p1 = route_coords[before_idx]
+  p2 = route_coords[turn_idx]
+  p3 = route_coords[after_idx]
+
+  # Convert to local meters (approximate)
+  lat_center = p2.latitude
+  lon_scale = math.cos(math.radians(lat_center))
+  m_per_deg = 111319.5  # meters per degree latitude
+
+  x1 = (p1.longitude - p2.longitude) * lon_scale * m_per_deg
+  y1 = (p1.latitude - p2.latitude) * m_per_deg
+  x2 = 0.0
+  y2 = 0.0
+  x3 = (p3.longitude - p2.longitude) * lon_scale * m_per_deg
+  y3 = (p3.latitude - p2.latitude) * m_per_deg
+
+  # Calculate curvature using cross product / (product of distances)
+  d12 = math.sqrt((x2 - x1)**2 + (y2 - y1)**2)
+  d13 = math.sqrt((x3 - x1)**2 + (y3 - y1)**2)
+  d23 = math.sqrt((x3 - x2)**2 + (y3 - y2)**2)
+
+  if d12 < 0.1 or d13 < 0.1 or d23 < 0.1:
+    return 0.0
+
+  # Cross product (p2-p1) x (p3-p1) - z component only
+  cross = (x2 - x1) * (y3 - y1) - (y2 - y1) * (x3 - x1)
+
+  curvature = 2.0 * cross / (d12 * d13 * d23)
+
+  # Clamp to reasonable values
+  MAX_CURVATURE = 0.2  # ~5m radius
+  return max(-MAX_CURVATURE, min(MAX_CURVATURE, curvature))

dragonpilot/dashy/maa/lib/__init__.py

@@ -0,0 +1,47 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+dragonpilot Map-Aware Assist Library
+
+Core modules:
+- maa_desire: Simple turn desire logic (blinker confirmation, lane change blocking, RHD/LHD)
+- model_helper: Helper class for modeld integration
+- longitudinal_helper: Planner integration for speed/accel limiting
+"""
+
+from dragonpilot.dashy.maa.lib.maa_desire import (
+  should_block_lane_change,
+  get_turn_desire,
+  is_crossing_turn,
+  get_turn_trigger_distance,
+)
+from dragonpilot.dashy.maa.lib.model_helper import ModelHelper
+from dragonpilot.dashy.maa.lib.longitudinal_helper import LongitudinalHelper
+
+__all__ = [
+  'should_block_lane_change',
+  'get_turn_desire',
+  'is_crossing_turn',
+  'get_turn_trigger_distance',
+  'ModelHelper',
+  'LongitudinalHelper',
+]

dragonpilot/dashy/maa/lib/accel_limiter.py

@@ -0,0 +1,238 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Acceleration Limiter
+
+Physics-based acceleration limiting for turns.
+
+Algorithm adapted from CarrotPilot (https://github.com/ajouatom/openpilot)
+Credit: carrotpilot team for the physics-based lateral acceleration approach.
+
+The key insight is that total acceleration is limited by tire grip:
+  a_total² = a_x² + a_y² ≤ a_max²
+
+Where:
+  a_x = longitudinal acceleration (throttle/brake)
+  a_y = lateral acceleration (from turning) = v² × curvature
+
+This means during turns, we must reduce longitudinal acceleration
+to stay within the grip circle.
+"""
+
+import math
+from dataclasses import dataclass
+from typing import Tuple, Optional
+
+
+@dataclass
+class AccelLimits:
+  """Acceleration limits."""
+  min_accel: float  # m/s² (negative = braking)
+  max_accel: float  # m/s² (positive = acceleration)
+
+
+@dataclass
+class AccelLimiterState:
+  """Current state of acceleration limiter."""
+  v_ego: float = 0.0
+  curvature: float = 0.0
+  lateral_accel: float = 0.0
+  available_long_accel: float = 0.0
+  is_limiting: bool = False
+
+
+class AccelLimiter:
+  """
+  Physics-based acceleration limiter for turns.
+
+  Uses the friction circle concept: total acceleration magnitude
+  is limited by tire grip. During turns, lateral acceleration
+  consumes part of this budget, leaving less for longitudinal
+  acceleration.
+
+  Adapted from CarrotPilot's limit_accel_in_turns function.
+  """
+
+  # Default lateral acceleration limit (m/s²)
+  # Comfortable limit is ~2-3 m/s², sporty is ~4 m/s²
+  DEFAULT_LAT_ACCEL_MAX = 2.5
+
+  # Lookup table for max total acceleration vs speed
+  # Higher speeds = lower max lateral accel for comfort
+  A_TOTAL_MAX_BP = [0., 10., 20., 30., 40.]  # m/s
+  A_TOTAL_MAX_V = [3.0, 2.8, 2.5, 2.2, 2.0]  # m/s²
+
+  def __init__(
+    self,
+    lat_accel_max: float = DEFAULT_LAT_ACCEL_MAX,
+    comfort_mode: bool = True
+  ):
+    """
+    Initialize acceleration limiter.
+
+    Args:
+      lat_accel_max: Maximum allowed lateral acceleration (m/s²)
+      comfort_mode: If True, use speed-dependent limits
+    """
+    self.lat_accel_max = lat_accel_max
+    self.comfort_mode = comfort_mode
+    self.state = AccelLimiterState()
+
+  def get_max_total_accel(self, v_ego: float) -> float:
+    """
+    Get maximum total acceleration for current speed.
+
+    In comfort mode, reduces limit at higher speeds.
+    """
+    if not self.comfort_mode:
+      return self.lat_accel_max
+
+    # Interpolate from lookup table
+    import numpy as np
+    return np.interp(v_ego, self.A_TOTAL_MAX_BP, self.A_TOTAL_MAX_V)
+
+  def compute_lateral_accel(self, v_ego: float, curvature: float) -> float:
+    """
+    Compute lateral acceleration from speed and curvature.
+
+    a_y = v² × κ
+
+    Args:
+      v_ego: Vehicle speed in m/s
+      curvature: Road curvature in 1/m
+
+    Returns:
+      Lateral acceleration in m/s²
+    """
+    return v_ego * v_ego * abs(curvature)
+
+  def compute_available_long_accel(
+    self,
+    v_ego: float,
+    curvature: float,
+    a_max: Optional[float] = None
+  ) -> float:
+    """
+    Compute available longitudinal acceleration given current turn.
+
+    Uses friction circle: a_x² + a_y² ≤ a_max²
+    Solving for a_x: a_x = sqrt(a_max² - a_y²)
+
+    Adapted from CarrotPilot's limit_accel_in_turns.
+
+    Args:
+      v_ego: Vehicle speed in m/s
+      curvature: Road curvature in 1/m
+      a_max: Override for max total acceleration
+
+    Returns:
+      Maximum available longitudinal acceleration in m/s²
+    """
+    if a_max is None:
+      a_max = self.get_max_total_accel(v_ego)
+
+    # Compute lateral acceleration
+    a_y = self.compute_lateral_accel(v_ego, curvature)
+    a_y_abs = abs(a_y)
+
+    # Update state
+    self.state.v_ego = v_ego
+    self.state.curvature = curvature
+    self.state.lateral_accel = a_y
+
+    # Check if lateral accel exceeds limit
+    if a_y_abs >= a_max:
+      # Already at or over limit - no longitudinal accel available
+      self.state.available_long_accel = 0.0
+      self.state.is_limiting = True
+      return 0.0
+
+    # Compute remaining budget for longitudinal acceleration
+    a_x_available = math.sqrt(a_max * a_max - a_y_abs * a_y_abs)
+
+    self.state.available_long_accel = a_x_available
+    self.state.is_limiting = a_x_available < a_max * 0.9  # Limiting if < 90% available
+
+    return a_x_available
+
+  def limit_accel(
+    self,
+    v_ego: float,
+    curvature: float,
+    accel_limits: AccelLimits,
+    a_max: Optional[float] = None
+  ) -> AccelLimits:
+    """
+    Apply turn-based acceleration limiting.
+
+    Args:
+      v_ego: Vehicle speed in m/s
+      curvature: Road curvature in 1/m
+      accel_limits: Current acceleration limits
+      a_max: Override for max total acceleration
+
+    Returns:
+      New AccelLimits with turn limiting applied
+    """
+    a_x_available = self.compute_available_long_accel(v_ego, curvature, a_max)
+
+    # Clamp max acceleration to available budget
+    new_max = min(accel_limits.max_accel, a_x_available)
+
+    # Don't limit braking as much - we may need to slow down
+    # But still apply some limit for comfort
+    new_min = max(accel_limits.min_accel, -a_x_available * 1.5)
+
+    return AccelLimits(
+      min_accel=new_min,
+      max_accel=new_max
+    )
+
+  def limit_accel_tuple(
+    self,
+    v_ego: float,
+    curvature: float,
+    accel_limits: Tuple[float, float],
+    a_max: Optional[float] = None
+  ) -> Tuple[float, float]:
+    """
+    Apply turn-based acceleration limiting (tuple interface).
+
+    For compatibility with existing planner code.
+
+    Args:
+      v_ego: Vehicle speed in m/s
+      curvature: Road curvature in 1/m
+      accel_limits: (min_accel, max_accel) tuple
+      a_max: Override for max total acceleration
+
+    Returns:
+      (min_accel, max_accel) tuple with turn limiting applied
+    """
+    limits = self.limit_accel(
+      v_ego,
+      curvature,
+      AccelLimits(accel_limits[0], accel_limits[1]),
+      a_max
+    )
+    return (limits.min_accel, limits.max_accel)

dragonpilot/dashy/maa/lib/longitudinal_helper.py

@@ -0,0 +1,360 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Map-Aware Assist Longitudinal Helper
+
+Provides navigation-based speed and acceleration limiting for the longitudinal planner.
+This module keeps all nav-related planner logic isolated from the core planner code.
+
+Features:
+- Turn speed limiting based on maaControl cereal message
+- Physics-based acceleration limiting using friction circle
+- Smooth slowdown/resume transitions
+- Driver acknowledgment (blinker) required to activate speed limiting
+
+Adapted from CarrotPilot (https://github.com/ajouatom/openpilot)
+Credit: carrotpilot team for curvature-based speed and physics-based accel limiting.
+
+Usage in longitudinal_planner.py:
+  from dragonpilot.dashy.maa.lib.longitudinal_helper import LongitudinalHelper
+
+  # Add 'maaControl' to SubMaster
+  # In update:
+  maa = sm['maaControl']
+  if sm.valid['maaControl'] and maa.turnValid and maa.speedLimitActive:
+    # Only apply speed limit when driver acknowledged (blinker on)
+    turn_speed = maa.turnSpeedLimit
+    turn_distance = maa.turnDistance
+  else:
+    turn_speed, turn_distance = None, None
+  v_cruise = self.maa_helper.apply_nav_speed_limit(v_cruise, turn_speed, turn_distance)
+"""
+
+from dataclasses import dataclass
+from typing import Optional, List
+
+# Import nav modules
+try:
+  from dragonpilot.dashy.maa.lib.accel_limiter import AccelLimiter
+  ACCEL_LIMITER_AVAILABLE = True
+except ImportError:
+  ACCEL_LIMITER_AVAILABLE = False
+
+
+@dataclass
+class NavPlannerState:
+  """Current state of nav planner integration."""
+  nav_limited_speed: Optional[float] = None
+  is_limiting_speed: bool = False
+  is_limiting_accel: bool = False
+
+
+@dataclass
+class VirtualLead:
+  """Virtual lead car for turn deceleration."""
+  status: bool = False
+  dRel: float = 100.0  # distance to virtual lead
+  vLead: float = 0.0   # speed of virtual lead
+  aLeadK: float = 0.0  # acceleration
+  aLeadTau: float = 0.3
+
+
+class RadarStateWrapper:
+  """
+  Wrapper to inject virtual lead into radarState for MPC.
+
+  This allows the MPC to "see" a fake slow car at the turn point,
+  triggering natural deceleration using the well-tuned lead following logic.
+  """
+  def __init__(self, radar_state, virtual_lead=None):
+    self._radar_state = radar_state
+    self._virtual_lead = virtual_lead
+
+  @property
+  def leadOne(self):
+    real_lead = self._radar_state.leadOne
+    # If no virtual lead, use real lead
+    if self._virtual_lead is None or not self._virtual_lead.status:
+      return real_lead
+    # If real lead exists and is closer, use real lead
+    if real_lead.status and real_lead.dRel < self._virtual_lead.dRel:
+      return real_lead
+    # Use virtual lead (turn point)
+    return self._virtual_lead
+
+  @property
+  def leadTwo(self):
+    return self._radar_state.leadTwo
+
+  def __getattr__(self, name):
+    return getattr(self._radar_state, name)
+
+
+class LongitudinalHelper:
+  """
+  Navigation helper for longitudinal planner.
+
+  Provides turn speed limiting and physics-based acceleration limiting
+  based on navigation data. Keeps all nav logic isolated from core planner.
+
+  Design rationale (based on automotive research):
+  - Stopping distance at 50 km/h is ~48m (25m braking + 15m reaction)
+  - Intersection approach speeds typically 30-50 km/h
+  - Comfortable deceleration: 1.5-2.0 m/s² for normal driving
+  """
+
+  # Configuration - Speed limiting
+  # Physics-based: calculate braking distance from speed difference
+  # More natural driving: maintain speed, brake closer to turn
+  SLOWDOWN_END_DIST = 10.0  # meters - be at turn speed by this distance (buffer before turn)
+  SLOWDOWN_BUFFER = 15.0    # meters - extra buffer added to braking distance
+
+  # Physics-based accel limiting
+  ACCEL_LIMIT_ENABLED = True
+  LAT_ACCEL_MAX = 2.5  # m/s² - max comfortable lateral acceleration
+
+  # Comfortable deceleration target (m/s²)
+  # Research shows 1.5-2.0 m/s² is comfortable for passengers
+  # Using 2.0 for more natural, later braking
+  COMFORT_DECEL = 2.0
+
+  def __init__(self):
+    """Initialize nav planner helper."""
+    self.state = NavPlannerState()
+
+    # Physics-based acceleration limiter
+    if ACCEL_LIMITER_AVAILABLE and self.ACCEL_LIMIT_ENABLED:
+      self.accel_limiter = AccelLimiter(
+        lat_accel_max=self.LAT_ACCEL_MAX,
+        comfort_mode=True
+      )
+    else:
+      self.accel_limiter = None
+
+  def apply_nav_speed_limit(
+    self,
+    v_cruise: float,
+    turn_speed: Optional[float] = None,
+    distance: Optional[float] = None
+  ) -> float:
+    """
+    Apply navigation-based speed limiting with physics-based braking.
+
+    Uses kinematic equation: d = (v² - v_target²) / (2 * decel)
+    Starts braking at calculated distance + buffer for natural driving feel.
+
+    Args:
+      v_cruise: Current cruise speed in m/s
+      turn_speed: Turn speed limit from maaControl (None if invalid)
+      distance: Distance to turn from maaControl (None if invalid)
+
+    Returns:
+      Limited cruise speed
+    """
+    if turn_speed is None or distance is None:
+      self.state.nav_limited_speed = None
+      self.state.is_limiting_speed = False
+      return v_cruise
+
+    # No need to slow if already at or below turn speed
+    if v_cruise <= turn_speed:
+      self.state.nav_limited_speed = None
+      self.state.is_limiting_speed = False
+      return v_cruise
+
+    # Calculate required braking distance using kinematics
+    # d = (v² - v_target²) / (2 * decel)
+    speed_diff_sq = v_cruise ** 2 - turn_speed ** 2
+    braking_distance = speed_diff_sq / (2 * self.COMFORT_DECEL)
+
+    # Start braking at: braking_distance + buffer + end_distance
+    slowdown_start = braking_distance + self.SLOWDOWN_BUFFER + self.SLOWDOWN_END_DIST
+
+    # Outside slowdown zone - no limit
+    if distance > slowdown_start:
+      self.state.nav_limited_speed = None
+      self.state.is_limiting_speed = False
+      return v_cruise
+
+    # In slowdown zone - calculate target speed at this distance
+    # v² = v_target² + 2 * decel * (distance - end_dist)
+    if distance > self.SLOWDOWN_END_DIST:
+      remaining = distance - self.SLOWDOWN_END_DIST
+      # Target speed that allows comfortable braking to turn_speed
+      target_speed_sq = turn_speed ** 2 + 2 * self.COMFORT_DECEL * remaining
+      limited_speed = min(v_cruise, target_speed_sq ** 0.5)
+    else:
+      # Very close to turn - calculate achievable speed with comfort decel
+      # This handles late blinker: never brake harder than COMFORT_DECEL
+      # If we can't reach turn_speed in time, accept entering turn faster
+      achievable_speed_sq = turn_speed ** 2 + 2 * self.COMFORT_DECEL * max(0, distance)
+      achievable_speed = achievable_speed_sq ** 0.5
+      # Never target lower than achievable (prevents harsh braking)
+      limited_speed = min(v_cruise, max(turn_speed, achievable_speed))
+
+    self.state.nav_limited_speed = limited_speed
+    self.state.is_limiting_speed = True
+    return limited_speed
+
+  # Minimum distance for virtual lead - below this, don't use virtual lead
+  # to avoid MPC braking to stop
+  VIRTUAL_LEAD_MIN_DIST = 15.0  # meters
+
+  def get_virtual_lead(
+    self,
+    v_ego: float,
+    turn_speed: Optional[float] = None,
+    distance: Optional[float] = None
+  ) -> Optional[VirtualLead]:
+    """
+    Create a virtual lead car at the turn point for natural deceleration.
+
+    The virtual lead "drives" at turn_speed, positioned at the turn point.
+    This makes the MPC decelerate naturally as if following a slow car.
+
+    Args:
+      v_ego: Current vehicle speed in m/s
+      turn_speed: Turn speed limit from maaControl (None if invalid)
+      distance: Distance to turn from maaControl (None if invalid)
+
+    Returns:
+      VirtualLead object if turn is approaching, None otherwise
+    """
+    if turn_speed is None or distance is None:
+      return None
+
+    # Only create virtual lead when we need to slow down
+    if v_ego <= turn_speed:
+      return None
+
+    # Don't use virtual lead when very close to turn - avoids brake-to-stop
+    # At this point, we should already be at turn speed from earlier braking
+    if distance < self.VIRTUAL_LEAD_MIN_DIST:
+      return None
+
+    # Calculate when to start showing virtual lead
+    # Use same physics: braking distance + buffer
+    speed_diff_sq = v_ego ** 2 - turn_speed ** 2
+    braking_distance = speed_diff_sq / (2 * self.COMFORT_DECEL)
+    activation_distance = braking_distance + self.SLOWDOWN_BUFFER + self.SLOWDOWN_END_DIST
+
+    if distance > activation_distance:
+      return None
+
+    # Create virtual lead at turn point, moving at turn speed
+    # The MPC will naturally decelerate to follow it
+    return VirtualLead(
+      status=True,
+      dRel=distance,      # distance to virtual lead
+      vLead=turn_speed,   # virtual lead moves at turn speed
+      aLeadK=0.0,         # no acceleration (constant speed)
+      aLeadTau=0.3        # response time constant
+    )
+
+  def apply_nav_accel_limit(
+    self,
+    v_ego: float,
+    curvature: float,
+    accel_clip: List[float]
+  ) -> List[float]:
+    """
+    Apply physics-based acceleration limiting for turns.
+
+    Uses friction circle: a_x² + a_y² ≤ a_max²
+
+    Args:
+      v_ego: Current vehicle speed in m/s
+      curvature: Current road curvature (from nav or model)
+      accel_clip: Current [min_accel, max_accel] limits
+
+    Returns:
+      Updated [min_accel, max_accel] with turn limiting applied
+    """
+    if self.accel_limiter is None:
+      return accel_clip
+
+    if abs(curvature) < 0.001:  # Essentially straight
+      self.state.is_limiting_accel = False
+      return accel_clip
+
+    limited = list(self.accel_limiter.limit_accel_tuple(
+      v_ego, curvature, tuple(accel_clip)
+    ))
+
+    self.state.is_limiting_accel = self.accel_limiter.state.is_limiting
+    return limited
+
+  # Staleness threshold for maaControl message (nanoseconds)
+  STALE_THRESHOLD_NS = 5e8  # 0.5 seconds
+
+  def process(
+    self,
+    sm,
+    v_ego: float,
+    v_cruise: float,
+    accel_clip: List[float]
+  ) -> tuple:
+    """
+    Process maaControl and return updated planner values.
+
+    Encapsulates all MAA logic:
+    - Validity and staleness checking
+    - Speed limiting (when driver acknowledged via blinker)
+    - Virtual lead creation for natural deceleration
+    - Curvature-based acceleration limiting
+
+    Args:
+      sm: SubMaster with 'maaControl' and 'carState'
+      v_ego: Current vehicle speed in m/s
+      v_cruise: Current cruise speed in m/s
+      accel_clip: Current [min_accel, max_accel] limits
+
+    Returns:
+      tuple: (v_cruise, accel_clip, virtual_lead)
+    """
+    virtual_lead = None
+
+    maa = sm['maaControl']
+
+    # Check valid and not stale
+    maa_valid = sm.valid['maaControl'] and maa.turnValid
+    if maa_valid and (sm.logMonoTime['carState'] - sm.logMonoTime['maaControl']) > self.STALE_THRESHOLD_NS:
+      maa_valid = False
+
+    if not maa_valid:
+      self.state.nav_limited_speed = None
+      self.state.is_limiting_speed = False
+      self.state.is_limiting_accel = False
+      return v_cruise, accel_clip, virtual_lead
+
+    # Speed limiting only when driver acknowledged (blinker on)
+    # Without blinker: informational only, no speed reduction
+    if maa.speedLimitActive:
+      virtual_lead = self.get_virtual_lead(v_ego, maa.turnSpeedLimit, maa.turnDistance)
+      v_cruise = self.apply_nav_speed_limit(v_cruise, maa.turnSpeedLimit, maa.turnDistance)
+
+    # Curvature-based acceleration limiting (always active when valid)
+    if maa.curvatureValid and abs(maa.curvature) > 0.001:
+      accel_clip = self.apply_nav_accel_limit(v_ego, maa.curvature, accel_clip)
+
+    return v_cruise, accel_clip, virtual_lead

dragonpilot/dashy/maa/lib/maa_desire.py

@@ -0,0 +1,119 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+MAA Desire Helper
+
+Turn execution flow:
+1. APPROACHING (200m): Start dead reckoning, show turn suggestion
+2. Driver turns on blinker: acknowledged
+3. At 100m with blinker: COMMIT - block lane change, slow down, send desire
+4. EXECUTING (30m): Track heading change
+5. COMPLETE: When heading change ≈ expected turn angle
+
+Turn desire is sent when:
+- desireActive is true (from maa_controld)
+- This requires: driver acknowledged (blinker) + committed (<100m) + EXECUTING state
+
+Without blinker:
+- System shows turn info but doesn't intervene
+- No speed reduction, no desire sent
+- Driver maintains full control
+"""
+
+from cereal import log, custom
+
+TurnDirection = custom.MaaControl.TurnDirection
+ManeuverType = custom.MaaControl.ManeuverType
+TurnState = {
+  'NONE': 0,
+  'APPROACHING': 1,
+  'EXECUTING': 2,
+  'COMPLETE': 3,
+  'MISSED': 4,
+}
+
+# Configuration
+MAX_TURN_SPEED = 50.0 / 3.6  # m/s (50 km/h) - no turn assist above this
+SHARP_TURN_ANGLE = 45.0  # degrees - above: turnLeft/Right, below: laneChangeLeft/Right
+
+
+def should_block_lane_change(maa_control, v_ego: float) -> bool:
+  """
+  Check if lane change should be blocked due to approaching turn.
+
+  Uses blockLaneChange from maa_controld which is set when:
+  - Driver acknowledged (blinker on matching direction)
+  - Within commit distance (100m)
+  """
+  if maa_control is None:
+    return False
+  if v_ego > MAX_TURN_SPEED:
+    return False
+  # Use the pre-computed blockLaneChange from maa_controld
+  return maa_control.blockLaneChange
+
+
+def get_turn_desire(maa_control, carstate, is_rhd: bool = False) -> log.Desire:
+  """
+  Get turn desire based on maaControl.
+
+  desireActive from maa_controld is true when:
+  - Driver acknowledged (blinker matches turn direction)
+  - Committed (<100m) OR in EXECUTING state
+
+  This function adds additional checks:
+  - Speed < 50 km/h
+  - maneuverType == turn
+
+  Args:
+    maa_control: MaaControl message
+    carstate: CarState message
+    is_rhd: True if right-hand drive (UK/Japan), False for left-hand drive (US/Taiwan)
+
+  Returns:
+  - turnLeft/Right if angle >= 45°
+  - laneChangeLeft/Right if angle < 45°
+  - none if conditions not met
+  """
+  if maa_control is None or not maa_control.turnValid:
+    return log.Desire.none
+
+  if maa_control.maneuverType != ManeuverType.turn:
+    return log.Desire.none
+
+  if carstate.vEgo > MAX_TURN_SPEED:
+    return log.Desire.none
+
+  # desireActive encapsulates: acknowledged + (committed OR executing)
+  if not maa_control.desireActive:
+    return log.Desire.none
+
+  # Sharp turn (>= 45°) uses turnLeft/Right, gentle uses laneChange
+  is_sharp = abs(maa_control.turnAngle) >= SHARP_TURN_ANGLE
+
+  if maa_control.turnDirection == TurnDirection.left:
+    return log.Desire.turnLeft if is_sharp else log.Desire.laneChangeLeft
+  elif maa_control.turnDirection == TurnDirection.right:
+    return log.Desire.turnRight if is_sharp else log.Desire.laneChangeRight
+
+  return log.Desire.none

dragonpilot/dashy/maa/lib/model_helper.py

@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Model Helper for modeld integration.
+
+Provides turn desire logic for modeld.py.
+"""
+
+from cereal import log
+from dragonpilot.dashy.maa.lib.maa_desire import (
+  should_block_lane_change,
+  get_turn_desire,
+)
+
+
+class ModelHelper:
+  """
+  Helper class for MAA integration with modeld.
+
+  Usage in modeld.py:
+    from dragonpilot.dashy.maa.lib import ModelHelper
+    model_helper = ModelHelper()
+
+    # In the loop:
+    is_rhd = sm["driverMonitoringState"].isRHD
+    desire = model_helper.get_desire(sm, lane_change_desire, is_rhd)
+  """
+
+  def __init__(self):
+    self.active = False
+    self.last_desire = log.Desire.none
+
+  def get_desire(self, sm, lane_change_desire: int, is_rhd: bool = False) -> int:
+    """
+    Get combined desire from MAA turn logic and lane change.
+
+    Priority:
+    1. Active lane change (driver initiated) - don't interrupt
+    2. MAA turn desire (navigation turn)
+    3. Lane change desire (pre-lane-change, keep, etc.)
+
+    Args:
+      sm: SubMaster with maaControl and carState
+      lane_change_desire: Desire from DesireHelper (lane change logic)
+      is_rhd: True if right-hand drive
+
+    Returns:
+      Final desire value
+    """
+    # Check if MAA data is available
+    if not sm.valid.get('maaControl', False) or not sm.valid.get('carState', False):
+      return lane_change_desire
+
+    # Check for stale maaControl (wait for 0.5s)
+    if (sm.logMonoTime['carState'] - sm.logMonoTime['maaControl']) > 5e8:
+      return lane_change_desire
+
+    maa_control = sm['maaControl']
+    carstate = sm['carState']
+
+    # Don't interrupt active lane change
+    if lane_change_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
+      self.active = False
+      return lane_change_desire
+
+    # Check if lane change should be blocked due to approaching turn
+    if should_block_lane_change(maa_control, carstate.vEgo):
+      # Block lane change desires, but allow none/keep
+      if lane_change_desire in (log.Desire.laneChangeLeft, log.Desire.laneChangeRight):
+        lane_change_desire = log.Desire.none
+
+    # Get MAA turn desire
+    maa_desire = get_turn_desire(maa_control, carstate, is_rhd)
+
+    # MAA turn desire takes priority over none/keep
+    if maa_desire != log.Desire.none:
+      self.active = True
+      self.last_desire = maa_desire
+      return maa_desire
+
+    # If MAA was active but now returns none, we completed the turn
+    if self.active and maa_desire == log.Desire.none:
+      self.active = False
+
+    return lane_change_desire
+
+  def update(self, modelv2, desire_state):
+    """
+    Update helper with model output (for future use).
+
+    Can be used to detect turn completion via desireState probabilities.
+
+    Args:
+      modelv2: ModelV2 message
+      desire_state: Model's desire state output
+    """
+    # Reserved for future use - detecting turn completion via model output
+    pass

dragonpilot/dashy/maa/maa_controld.py

@@ -0,0 +1,919 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+MAA Control Daemon - Turn Assist with Dead Reckoning
+
+================================================================================
+OVERVIEW
+================================================================================
+
+This daemon provides high-frequency (20Hz) turn assist signals for navigation.
+The key insight is that navInstruction updates at only 1Hz (too slow for smooth
+turn tracking), so we use "snapshot and coast" - capture turn info once, then
+dead reckon using the car's own sensors.
+
+Subscribes to:
+- navInstruction: turn info from maad (1Hz) - used as TRIGGER only
+- liveGPS: position, bearing (1Hz)
+- navRoute: route geometry - reset on route change
+- carState: vEgo, blinker, yawRate (100Hz) - for dead reckoning
+
+Publishes:
+- maaControl: turnDistance, turnDirection, desireActive, turnState, etc.
+
+================================================================================
+DEAD RECKONING APPROACH
+================================================================================
+
+Problem:
+  Navigation updates come in slow (1Hz). At 60 km/h, that's 17m between updates.
+  This causes jerky distance countdown and imprecise turn detection.
+
+Solution: "Snapshot and Coast"
+  1. TRIGGER at ~200m: capture turn params (angle, distance, direction)
+  2. IGNORE subsequent navInstruction updates for this turn
+  3. DEAD RECKON distance: integrate vEgo from carState (100Hz)
+  4. TRACK HEADING: integrate yawRate from carState during turn execution
+
+  Distance remaining = initial_distance - ∫(vEgo × dt)
+  Heading change     = ∫(yawRate × dt)
+
+================================================================================
+STATE MACHINE
+================================================================================
+
+  NONE ──────────────────────────────────────────────────────────────┐
+    │                                                                │
+    │ navInstruction shows turn within 200m                          │
+    │ (significant angle ≥20°, has direction)                        │
+    ▼                                                                │
+  APPROACHING ───────────────────────────────────────────────────────┤
+    │  • Show turn suggestion at <150m                               │
+    │  • Wait for driver blinker (acknowledgment)                    │
+    │  • Dead reckon distance using vEgo                             │
+    │  • NOT tracking yaw yet (allows overtaking)                    │
+    │                                                                │
+    │  At <100m WITH blinker: COMMIT                                 │
+    │    • blockLaneChange = true                                    │
+    │    • speedLimitActive = true                                   │
+    │    • desireActive = true                                       │
+    │                                                                │
+    │ Dead reckoned distance < 30m                                   │
+    ▼                                                                │
+  EXECUTING ─────────────────────────────────────────────────────────┤
+    │  • Now tracking yaw (accumulated heading change)               │
+    │  • Compare accumulated vs expected turn angle                  │
+    │  • desireActive = true (only if acknowledged)                  │
+    │                                                                │
+    │ |accumulated_yaw| >= |expected_angle| - tolerance              │
+    ▼                                                                │
+  COMPLETE ──────► (2s cooldown) ──────► NONE                        │
+                                                                     │
+  MISSED ◄─── (any abort condition) ◄────────────────────────────────┘
+    │
+    │ Wait for route change (navRoute coords change)
+    ▼
+  NONE
+
+================================================================================
+DRIVER ACKNOWLEDGMENT (Two-Step, Like Lane Change)
+================================================================================
+
+Two confirmation steps:
+1. Blinker matching turn direction = approach confirmed (speed limit, block lane change)
+2. Steering torque in turn direction = turn execution confirmed (desire sent)
+
+Blinker is the main confirmation for slowing down. Steering is required to
+actually send the turn desire to the model (like lane change).
+
+Distance   | Without Blinker          | With Blinker               | + Steering
+-----------|--------------------------|----------------------------|------------------
+200m-150m  | Informational only       | Informational only         | (same)
+150m-100m  | Show suggestion          | speedLimitActive = true    | (same)
+<100m      | Show suggestion          | slow down, block LC        | + desireActive
+<30m       | Enter EXECUTING          | slow down, block LC        | + desireActive
+
+Key behaviors:
+- speedLimitActive: When blinker on, enforce turn speed limit
+- blockLaneChange: At <100m with blinker, block lane change desire
+- desireActive: Only sent when blinker AND steering confirmed (at turn)
+
+If driver has blinker but doesn't steer:
+- System slows down for the turn
+- But doesn't send turn desire (driver steers manually)
+- Once driver steers in turn direction, desire activates
+
+================================================================================
+ABORT/MISS DETECTION
+================================================================================
+
+Driver can override at any time. We detect "missed turn" via:
+
+1. DROVE TOO FAR (no turn)
+   - Condition: distance_traveled > 2× initial_distance
+   - Meaning: drove way past expected turn point without turning
+   - Example: triggered at 200m, drove 400m, barely any yaw change
+
+2. WRONG DIRECTION
+   - Condition: accumulated_yaw > 20° in opposite direction
+   - Meaning: driver turned the wrong way
+   - Example: expected right turn, driver turned 25° left
+
+3. INSUFFICIENT TURN
+   - Condition: drove 2× total distance but <30% of expected yaw
+   - Meaning: drove through intersection without completing turn
+   - Example: expected 90° turn, only turned 20° after driving 500m
+
+4. TIMEOUT
+   - Condition: 30 seconds of MOVING time (v_ego > 1 m/s)
+   - Meaning: something went wrong, taking too long
+   - Note: stopped time (traffic light) doesn't count
+
+5. PASSED TURN (nav jumped to next)
+   - Condition: dead_reckon < 50m but nav says > 150m
+   - Meaning: nav is now showing NEXT turn, we passed this one
+   - Example: we think 30m to turn, nav says 400m (next turn)
+
+6. DIRECTION CHANGED
+   - Condition: turnAngle sign flipped (left ↔ right)
+   - Meaning: route recalculated or nav corrected itself
+   - Example: was +90° (left), now -45° (right)
+
+7. TURN DISAPPEARED
+   - Condition: turnAngle dropped below 20° threshold
+   - Meaning: no longer a significant turn (route changed or passed)
+
+================================================================================
+DRIVER OVERRIDE SCENARIOS
+================================================================================
+
+Overtaking another car:
+  - During APPROACHING: No problem! We only track distance, not yaw.
+    Driver can swerve left/right to overtake, doesn't affect tracking.
+  - During EXECUTING: Brief swerves (<20°) won't trigger wrong direction.
+    Only sustained opposite turn triggers abort.
+
+Stopping at traffic light:
+  - moving_time only increments when v_ego > 1 m/s
+  - Can wait indefinitely at red light without timeout
+  - Distance tracking pauses when stopped (vEgo ≈ 0)
+
+Taking a different route intentionally:
+  - System correctly detects as MISSED
+  - Waits for navRoute to change (reroute)
+  - Then ready to track new turn
+
+================================================================================
+DATA FLOW
+================================================================================
+
+  navInstruction (1Hz)                    carState (100Hz)
+        │                                      │
+        │ turnAngle, maneuverDistance          │ vEgo, yawRate, blinker
+        │ maneuverType, modifier               │
+        ▼                                      ▼
+  ┌─────────────────────────────────────────────────────────┐
+  │                    TurnTracker                          │
+  │                                                         │
+  │  trigger() ◄── at 200m, capture params                  │
+  │      │                                                  │
+  │      ▼                                                  │
+  │  update(vEgo, yawRate) ◄── every 50ms (20Hz)            │
+  │      │                                                  │
+  │      ├── distance_traveled += vEgo × dt                 │
+  │      ├── accumulated_yaw += yawRate × dt  (if EXECUTING)│
+  │      └── check abort conditions                         │
+  │                                                         │
+  └─────────────────────────────────────────────────────────┘
+        │
+        ▼
+  maaControl (20Hz)
+    • turnDistance (dead reckoned)
+    • turnState (NONE/APPROACHING/EXECUTING/COMPLETE/MISSED)
+    • desireActive (for blinker/lane change desire)
+    • turnProgress (accumulated yaw in degrees)
+
+================================================================================
+CONFIGURATION
+================================================================================
+
+TURN_TRIGGER_DISTANCE = 200m   # Start dead reckoning
+TURN_DESIRE_DISTANCE  = 150m   # Show turn suggestion, wait for blinker
+TURN_COMMIT_DISTANCE  = 100m   # With blinker: commit (block lane change, slow)
+TURN_EXECUTE_DISTANCE = 30m    # Start tracking yaw
+TURN_ANGLE_TOLERANCE  = 15°    # Turn complete within this
+TURN_MIN_ANGLE        = 20°    # Minimum to be "significant"
+TURN_TIMEOUT          = 30s    # Max moving time
+
+================================================================================
+OUTPUT FIELDS (maaControl)
+================================================================================
+
+turnDistance        - Dead reckoned distance to turn (m)
+turnDirection       - left/right/none
+turnAngle           - Expected turn angle (deg, + = left)
+turnState           - 0=none, 1=approaching, 2=executing, 3=complete, 4=missed
+turnProgress        - Accumulated yaw during turn (deg)
+desireActive        - Send turn desire to model (blinker + steering confirmed)
+driverAcknowledged  - Driver turned on matching blinker
+speedLimitActive    - Enforce turn speed limit (blinker on)
+blockLaneChange     - Block lane change desire (blinker + committed)
+turnSpeedLimit      - Target speed for turn (m/s)
+
+================================================================================
+"""
+
+import json
+import math
+import time
+from enum import IntEnum
+
+import numpy as np
+from cereal import messaging, log, custom
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+from dragonpilot.dashy.maa.helpers import (
+  Coordinate,
+  compute_path_curvature,
+  find_closest_point_on_route,
+)
+
+
+# CarrotPilot curvature-to-speed lookup table
+# Adapted from https://github.com/ajouatom/openpilot
+# Maps curvature (1/m) to recommended speed (km/h)
+# Based on physics: v = sqrt(a_lat / κ) where a_lat ≈ 2.5 m/s² for comfort
+V_CURVE_LOOKUP_BP = [0., 1./800., 1./670., 1./560., 1./440., 1./360., 1./265., 1./190., 1./135., 1./85., 1./55., 1./30., 1./25.]
+V_CURVE_LOOKUP_VALS = [300., 150., 120., 110., 100., 90., 80., 70., 60., 50., 40., 15., 5.]  # km/h
+
+
+# Configuration
+CURVATURE_ASSIST_ENABLED = False  # Disable continuous curvature steering assist
+CURVATURE_LOOKAHEAD = 2.5  # seconds ahead for curvature calculation
+TURN_VALID_DISTANCE = 500.0  # meters - turn is valid if within this distance
+MIN_SPEED_FOR_CURVATURE = 1.0  # m/s - minimum speed to use curvature
+
+# Turn execution - dead reckoning based
+TURN_TRIGGER_DISTANCE = 200.0   # meters - capture turn info and start dead reckoning
+TURN_DESIRE_DISTANCE = 150.0    # meters - show turn suggestion, wait for blinker
+TURN_COMMIT_DISTANCE = 100.0    # meters - if blinker on, commit (block lane change, slow down)
+TURN_EXECUTE_DISTANCE = 30.0    # meters - start tracking heading (entering intersection)
+TURN_ANGLE_TOLERANCE = 15.0     # degrees - turn complete when within this of target
+TURN_MIN_ANGLE = 20.0           # degrees - minimum angle to consider a "turn"
+
+# Abort detection thresholds
+TURN_MISS_DISTANCE_FACTOR = 2.0   # drove 2x expected distance without turning = missed
+TURN_MISS_YAW_THRESHOLD = 0.3     # must achieve at least 30% of turn angle
+TURN_WRONG_DIRECTION_ANGLE = 20.0 # degrees in wrong direction = missed
+TURN_TIMEOUT = 30.0               # seconds - max time in APPROACHING/EXECUTING
+
+
+class TurnState(IntEnum):
+  NONE = 0          # no turn pending
+  APPROACHING = 1   # turn ahead, dead reckoning distance
+  EXECUTING = 2     # in intersection, tracking heading change
+  COMPLETE = 3      # turn done, cooldown before next
+  MISSED = 4        # turn missed/aborted, wait for reroute
+
+
+class TurnTracker:
+  """
+  Tracks turn execution using dead reckoning.
+
+  Once triggered at ~200m, ignores navInstruction updates and purely
+  uses vEgo (distance) and yawRate (heading) from carState.
+
+  Driver acknowledgment flow (two-step, like lane change):
+  - System shows turn suggestion at 150m
+  - Driver turns on blinker = acknowledged (speed limit, block lane change)
+  - Driver steers in turn direction = steering confirmed (desire sent)
+  - Blinker gates the approach, steering gates the turn execution
+  """
+
+  def __init__(self):
+    self.state = TurnState.NONE
+    # Captured at trigger
+    self.expected_angle = 0.0       # degrees (positive=left, negative=right)
+    self.initial_distance = 0.0     # distance to turn when triggered
+    self.direction = 'none'         # 'left' or 'right'
+    self.maneuver_type = 0          # MaaControl.ManeuverType
+    self.turn_speed_limit = 0.0     # m/s
+    # Dead reckoning state
+    self.distance_traveled = 0.0    # meters since trigger
+    self.accumulated_yaw = 0.0      # degrees turned since execute start
+    self.moving_time = 0.0          # accumulated time while moving (for timeout)
+    self.execute_start_time = 0.0   # when EXECUTING started
+    self.complete_time = 0.0        # when turn completed
+    self.last_update_time = 0.0     # for dt calculation
+    # Driver acknowledgment (two-step like lane change)
+    self.driver_acknowledged = False  # blinker matches turn direction
+    self.steering_confirmed = False   # steering torque matches turn direction
+
+  def reset(self):
+    self.state = TurnState.NONE
+    self.expected_angle = 0.0
+    self.initial_distance = 0.0
+    self.direction = 'none'
+    self.maneuver_type = 0
+    self.turn_speed_limit = 0.0
+    self.distance_traveled = 0.0
+    self.accumulated_yaw = 0.0
+    self.moving_time = 0.0
+    self.execute_start_time = 0.0
+    self.complete_time = 0.0
+    self.last_update_time = 0.0
+    self.driver_acknowledged = False
+    self.steering_confirmed = False
+
+  def get_estimated_distance(self) -> float:
+    """Get estimated distance to turn based on dead reckoning."""
+    if self.state in (TurnState.APPROACHING, TurnState.EXECUTING):
+      return max(0.0, self.initial_distance - self.distance_traveled)
+    return 9999.0
+
+  def trigger(self, t: float, turn_distance: float, turn_angle: float,
+              maneuver_type: int, turn_direction: int, turn_speed_limit: float):
+    """Capture turn parameters and start dead reckoning."""
+    self.state = TurnState.APPROACHING
+    self.expected_angle = turn_angle
+    self.initial_distance = turn_distance
+    self.maneuver_type = maneuver_type
+    self.turn_speed_limit = turn_speed_limit
+    self.direction = 'left' if turn_direction == custom.MaaControl.TurnDirection.left else 'right'
+    self.distance_traveled = 0.0
+    self.accumulated_yaw = 0.0
+    self.moving_time = 0.0
+    self.last_update_time = t
+    cloudlog.info(f"maa: turn triggered, angle={turn_angle:.1f}°, dist={turn_distance:.0f}m, dir={self.direction}")
+
+  def check_blinker(self, left_blinker: bool, right_blinker: bool):
+    """Check if driver turned on blinker matching turn direction."""
+    if self.direction == 'left' and left_blinker:
+      self.driver_acknowledged = True
+    elif self.direction == 'right' and right_blinker:
+      self.driver_acknowledged = True
+    # Note: we don't reset acknowledged if blinker turns off
+    # (driver may have tapped blinker briefly to acknowledge)
+
+  def check_steering(self, steering_pressed: bool, steering_torque: float):
+    """Check if driver is steering in the turn direction (like lane change confirmation)."""
+    if not steering_pressed:
+      return
+    # Same logic as lane change: positive torque = left, negative = right
+    if self.direction == 'left' and steering_torque > 0:
+      self.steering_confirmed = True
+    elif self.direction == 'right' and steering_torque < 0:
+      self.steering_confirmed = True
+    # Once confirmed, stays confirmed (one-time check)
+
+  def update(self, t: float, v_ego: float, yaw_rate: float) -> bool:
+    """
+    Update turn state with dead reckoning.
+
+    Args:
+      t: current time (monotonic)
+      v_ego: vehicle speed (m/s) from carState
+      yaw_rate: yaw rate (rad/s) from carState
+
+    Returns True if desire should be sent (acknowledged + within commit distance).
+    """
+    if self.state == TurnState.NONE:
+      return False
+
+    # Calculate dt
+    dt = t - self.last_update_time if self.last_update_time > 0 else 0.05
+    dt = min(dt, 0.2)  # Cap dt to handle timing glitches
+    self.last_update_time = t
+
+    # Integrate distance traveled (and moving time for timeout)
+    self.distance_traveled += v_ego * dt
+    if v_ego > 1.0:  # Only count time when actually moving
+      self.moving_time += dt
+    estimated_dist = self.get_estimated_distance()
+
+    # Timeout check - based on moving time (allows waiting at traffic lights)
+    if self.moving_time > TURN_TIMEOUT:
+      cloudlog.warning(f"maa: turn timeout after {self.moving_time:.0f}s moving")
+      self.state = TurnState.MISSED
+      return False
+
+    if self.state == TurnState.APPROACHING:
+      # Check if we've reached the intersection
+      if estimated_dist <= TURN_EXECUTE_DISTANCE:
+        self.state = TurnState.EXECUTING
+        self.execute_start_time = t
+        self.accumulated_yaw = 0.0
+        cloudlog.info(f"maa: turn executing, traveled={self.distance_traveled:.0f}m")
+
+      # Miss detection: drove way past without entering execute
+      if self.distance_traveled > self.initial_distance * TURN_MISS_DISTANCE_FACTOR:
+        cloudlog.warning(f"maa: turn missed (drove past), traveled={self.distance_traveled:.0f}m")
+        self.state = TurnState.MISSED
+        return False
+
+    elif self.state == TurnState.EXECUTING:
+      # Integrate yaw rate (convert rad/s to deg)
+      yaw_change_deg = math.degrees(yaw_rate) * dt
+      self.accumulated_yaw += yaw_change_deg
+
+      # Fix 3: Early abort if going straight through the "turn" (map error)
+      # If we've traveled 20m past the turn point with no significant yaw change,
+      # the turn doesn't exist - abort quickly instead of extended false braking
+      distance_past_turn = self.distance_traveled - self.initial_distance
+      if distance_past_turn > 20.0 and abs(self.accumulated_yaw) < 5.0:
+        cloudlog.warning(f"maa: no turn detected (past {distance_past_turn:.0f}m, yaw={self.accumulated_yaw:.1f}°), aborting")
+        self.state = TurnState.MISSED
+        return False
+
+      # Check completion: achieved target heading
+      # For left turn: expected_angle > 0, accumulated should go positive
+      # For right turn: expected_angle < 0, accumulated should go negative
+      progress = abs(self.accumulated_yaw) / abs(self.expected_angle) if self.expected_angle != 0 else 0
+      angle_remaining = abs(self.expected_angle) - abs(self.accumulated_yaw)
+
+      if angle_remaining <= TURN_ANGLE_TOLERANCE:
+        self.state = TurnState.COMPLETE
+        self.complete_time = t
+        cloudlog.info(f"maa: turn complete, yaw={self.accumulated_yaw:.1f}°, expected={self.expected_angle:.1f}°")
+        return False
+
+      # Wrong direction detection: significant yaw in opposite direction
+      if self.expected_angle > 0 and self.accumulated_yaw < -TURN_WRONG_DIRECTION_ANGLE:
+        cloudlog.warning(f"maa: turn wrong direction (expected left, went right)")
+        self.state = TurnState.MISSED
+        return False
+      if self.expected_angle < 0 and self.accumulated_yaw > TURN_WRONG_DIRECTION_ANGLE:
+        cloudlog.warning(f"maa: turn wrong direction (expected right, went left)")
+        self.state = TurnState.MISSED
+        return False
+
+      # Miss detection: drove 2x expected total distance without sufficient turn
+      total_expected = self.initial_distance + 50.0  # Add some buffer for turn itself
+      if self.distance_traveled > total_expected * TURN_MISS_DISTANCE_FACTOR:
+        if progress < TURN_MISS_YAW_THRESHOLD:
+          cloudlog.warning(f"maa: turn missed (insufficient yaw), progress={progress:.1%}")
+          self.state = TurnState.MISSED
+          return False
+
+    elif self.state == TurnState.COMPLETE:
+      # Short cooldown then reset
+      if t - self.complete_time > 2.0:
+        self.reset()
+      return False
+
+    elif self.state == TurnState.MISSED:
+      # Stay in missed state until route changes (reset called externally)
+      return False
+
+    # Desire active when:
+    # Driver acknowledged (blinker on) AND steering confirmed AND either:
+    # 1. APPROACHING and within commit distance (<100m), OR
+    # 2. EXECUTING (in the turn)
+    # Without both confirmations, NO desire is sent (driver maintains control)
+    if not self.driver_acknowledged or not self.steering_confirmed:
+      return False
+    if self.state == TurnState.APPROACHING:
+      return estimated_dist <= TURN_COMMIT_DISTANCE
+    if self.state == TurnState.EXECUTING:
+      return True
+    return False
+
+
+def get_turn_speed_from_curvature(curvature: float) -> float:
+  """
+  Compute recommended speed for turn using CarrotPilot's curvature lookup table.
+  This is physics-based: v = sqrt(a_lat / κ) where a_lat ≈ 2.5 m/s² for comfort.
+
+  Args:
+    curvature: Road curvature in 1/m (positive or negative)
+
+  Returns:
+    Recommended speed in m/s
+  """
+  abs_curv = abs(curvature)
+  speed_kph = np.interp(abs_curv, V_CURVE_LOOKUP_BP, V_CURVE_LOOKUP_VALS)
+  return speed_kph / 3.6  # Convert to m/s
+
+
+def get_turn_speed_limit(modifier: str, turn_angle: float, nav_type: str = '', curvature: float = 0.0) -> float:
+  """
+  Compute recommended speed for turn based on curvature (preferred) or heuristics.
+
+  Uses CarrotPilot's curvature lookup table when curvature is available.
+  Falls back to heuristic-based calculation when curvature is not available.
+
+  Args:
+    modifier: OSRM maneuver modifier (e.g., 'left', 'right', 'sharp left')
+    turn_angle: Turn angle in degrees (positive=left, negative=right)
+    nav_type: OSRM maneuver type (e.g., 'turn', 'off ramp')
+    curvature: Road curvature in 1/m (from geometry calculation)
+
+  Returns:
+    Recommended speed in m/s
+  """
+  # Use curvature-based calculation when curvature is available
+  # This is more accurate than heuristics as it's physics-based
+  if abs(curvature) > 0.001:  # Meaningful curvature
+    speed_from_curv = get_turn_speed_from_curvature(curvature)
+    # Clamp to reasonable range: 5 km/h to 100 km/h for turns
+    return max(5.0 / 3.6, min(100.0 / 3.6, speed_from_curv))
+
+  # Fallback: Heuristic-based calculation when curvature not available
+
+  # Highway maneuvers (exits, ramps, merges) - much higher speeds
+  if nav_type in ('depart', 'off ramp', 'on ramp', 'merge', 'fork'):
+    if 'sharp' in modifier:
+      base_speed = 50.0  # km/h - sharp highway exit
+    elif 'slight' in modifier:
+      base_speed = 80.0  # km/h - gentle curve
+    else:
+      base_speed = 60.0  # km/h - normal exit ramp
+    return base_speed / 3.6  # Don't apply angle adjustments to highway maneuvers
+
+  # Intersection turns - lower speeds
+  if 'sharp' in modifier:
+    base_speed = 15.0  # km/h
+  elif 'slight' in modifier:
+    base_speed = 45.0  # km/h
+  elif modifier in ('left', 'right'):
+    base_speed = 25.0  # km/h
+  elif 'uturn' in modifier:
+    base_speed = 10.0  # km/h
+  else:
+    base_speed = 50.0  # km/h default
+
+  # Adjust based on actual angle if available (only for intersection turns)
+  abs_angle = abs(turn_angle)
+  if abs_angle > 90:
+    base_speed = min(base_speed, 15.0)
+  elif abs_angle > 60:
+    base_speed = min(base_speed, 25.0)
+  elif abs_angle > 30:
+    base_speed = min(base_speed, 35.0)
+
+  return base_speed / 3.6  # Convert to m/s
+
+
+def get_maneuver_type(nav_type: str, turn_angle: float = 0.0) -> int:
+  """Determine maneuver type primarily from geometry, with OSRM hints.
+
+  Geometry is the source of truth - OSRM labels can be wrong.
+  """
+  # Geometry-first: significant turn angle = it's a turn
+  if abs(turn_angle) >= TURN_MIN_ANGLE:
+    return custom.MaaControl.ManeuverType.turn
+
+  # Highway maneuvers (even with small angle) - use laneChange desire
+  if nav_type in ('off ramp', 'on ramp', 'merge', 'fork'):
+    return custom.MaaControl.ManeuverType.laneChange
+
+  # OSRM says turn but geometry is minor - still treat as turn
+  if nav_type in ('turn', 'end of road'):
+    return custom.MaaControl.ManeuverType.turn
+
+  # Everything else: no action needed
+  return custom.MaaControl.ManeuverType.none
+
+
+def get_last_gps_position(params: Params) -> tuple:
+  """Get last known GPS position from params. Returns (lat, lon, bearing) or None."""
+  try:
+    data = params.get("LastGPSPosition")
+    if data:
+      pos = json.loads(data)
+      return pos.get('latitude'), pos.get('longitude'), pos.get('bearing', 0.0)
+  except Exception:
+    pass
+  return None
+
+
+def main():
+  cloudlog.info("maa_controld: starting")
+
+  params = Params()
+  sm = messaging.SubMaster(
+    ['navRoute', 'navInstruction', 'liveGPS', 'carState'],
+    ignore_alive=['navRoute', 'navInstruction', 'liveGPS', 'carState']
+  )
+  pm = messaging.PubMaster(['maaControl'])
+
+  rk = Ratekeeper(20)
+
+  # State
+  route_coords: list[Coordinate] = []
+  last_route_len = 0
+  last_gps_time = 0.0
+  closest_idx = 0
+
+  # Turn tracker (dead reckoning based)
+  turn_tracker = TurnTracker()
+
+  # Fallback position from params (used before liveGPS is ready)
+  fallback_pos = get_last_gps_position(params)
+  if fallback_pos:
+    cloudlog.info(f"maa_controld: fallback position {fallback_pos[0]:.6f}, {fallback_pos[1]:.6f}")
+
+  while True:
+    sm.update(0)
+    t = time.monotonic()
+
+    # Get current position - prefer liveGPS, fall back to LastGPSPosition
+    if sm.updated['liveGPS']:
+      last_gps_time = time.monotonic()
+
+    gps = sm['liveGPS']
+    gps_stale = (time.monotonic() - last_gps_time) > 2.0
+    gps_valid = gps.status == custom.LiveGPS.Status.valid and not gps_stale
+
+    # Use fallback if liveGPS not ready
+    use_fallback = not gps_valid and fallback_pos is not None
+    if gps_valid:
+      current_lat = gps.latitude
+      current_lon = gps.longitude
+      current_bearing = gps.bearingDeg
+    elif use_fallback:
+      current_lat, current_lon, current_bearing = fallback_pos
+    else:
+      current_lat = current_lon = current_bearing = None
+
+    # Get turn info from navInstruction
+    nav = sm['navInstruction']
+    nav_valid = sm.valid['navInstruction']
+
+    # Always update route coordinates (needed for turn angle calculation)
+    nav_route = sm['navRoute']
+    if sm.valid['navRoute'] and nav_route.coordinates:
+      new_len = len(nav_route.coordinates)
+      if new_len != last_route_len:
+        route_coords = [
+          Coordinate(c.latitude, c.longitude)
+          for c in nav_route.coordinates
+        ]
+        last_route_len = new_len
+        closest_idx = 0
+        turn_tracker.reset()  # Reset turn state when route changes
+        cloudlog.debug(f"maa_controld: route updated, {new_len} points")
+
+    # Find current position on route
+    has_position = current_lat is not None
+    if route_coords and has_position:
+      current_pos = Coordinate(current_lat, current_lon)
+      try:
+        # Optimization: Search locally around last known position
+        search_start = max(0, closest_idx - 10)
+        search_end = min(len(route_coords), closest_idx + 50)
+
+        if closest_idx == 0:
+          search_start = 0
+          search_end = len(route_coords)
+
+        subset = route_coords[search_start:search_end]
+        local_idx, _ = find_closest_point_on_route(current_pos, subset)
+        closest_idx = search_start + local_idx
+      except Exception as e:
+        cloudlog.warning(f"maa_controld: position error: {e}")
+
+    # Get speed, blinker, and yawRate from carState
+    cs = sm['carState']
+    cs_valid = sm.valid['carState']
+    v_ego = cs.vEgo if cs_valid else 0.0
+    left_blinker = cs.leftBlinker if cs_valid else False
+    right_blinker = cs.rightBlinker if cs_valid else False
+    yaw_rate = cs.yawRate if cs_valid else 0.0
+
+    # Continuous curvature assist (optional - for steering)
+    curvature = 0.0
+    curvature_valid = False
+    if CURVATURE_ASSIST_ENABLED and route_coords and has_position and v_ego > MIN_SPEED_FOR_CURVATURE:
+      try:
+        curvature = compute_path_curvature(
+          current_pos, current_bearing, route_coords, closest_idx, v_ego, CURVATURE_LOOKAHEAD
+        )
+        curvature_valid = True
+      except Exception as e:
+        cloudlog.warning(f"maa_controld: curvature error: {e}")
+
+    # Build maaControl message
+    msg = messaging.new_message('maaControl', valid=True)
+    maa = msg.maaControl
+
+    maa.curvature = float(curvature)
+    maa.curvatureValid = curvature_valid
+
+    # Get maneuver info from navInstruction (1Hz, used only for trigger)
+    maneuver_dist = getattr(nav, 'maneuverDistance', None) if nav_valid else None
+
+    # If turn tracker is active (including MISSED/COMPLETE), handle accordingly
+    if turn_tracker.state in (TurnState.APPROACHING, TurnState.EXECUTING):
+      # Safety checks: detect if turn info changed significantly
+      if nav_valid and maneuver_dist is not None:
+        # Use turnAngle from navInstructionExt - this is geometry-based (reliable)
+        turn_angle = getattr(nav, 'turnAngle', 0.0) or 0.0
+        estimated_dist = turn_tracker.get_estimated_distance()
+
+        # Check 1: Did we pass the turn? (nav distance jumped up = now showing NEXT turn)
+        # If we think we're close (<50m) but nav says far (>150m), we probably passed it
+        if estimated_dist < 50.0 and maneuver_dist > 150.0:
+          cloudlog.warning(f"maa: likely passed turn (est={estimated_dist:.0f}m, nav={maneuver_dist:.0f}m), resetting")
+          turn_tracker.reset()
+
+        # Check 2: Did direction flip? (route recalculated or now showing different turn)
+        else:
+          current_nav_dir = None
+          if turn_angle > TURN_MIN_ANGLE:
+            current_nav_dir = 'left'
+          elif turn_angle < -TURN_MIN_ANGLE:
+            current_nav_dir = 'right'
+
+          if current_nav_dir and current_nav_dir != turn_tracker.direction:
+            cloudlog.warning(f"maa: turn direction changed ({turn_tracker.direction} → {current_nav_dir}), angle={turn_angle:.1f}°, resetting")
+            turn_tracker.reset()
+
+          # Check 3: Turn disappeared (angle now below threshold)
+          elif abs(turn_angle) < TURN_MIN_ANGLE:
+            nav_type = getattr(nav, 'maneuverType', '') or ''
+            if get_maneuver_type(nav_type, turn_angle) == custom.MaaControl.ManeuverType.none:
+              cloudlog.warning(f"maa: turn no longer valid (angle={turn_angle:.1f}°), resetting")
+              turn_tracker.reset()
+
+    if turn_tracker.state in (TurnState.APPROACHING, TurnState.EXECUTING):
+      # Check blinker and steering for driver acknowledgment (like lane change)
+      turn_tracker.check_blinker(left_blinker, right_blinker)
+      turn_tracker.check_steering(cs.steeringPressed, cs.steeringTorque)
+
+      # Dead reckon distance - ignore navInstruction updates
+      estimated_dist = turn_tracker.get_estimated_distance()
+
+      # Fix 2: Allow abort if blinker turns off before commitment (>100m)
+      # User can change their mind if not yet committed to the turn
+      if turn_tracker.state == TurnState.APPROACHING and turn_tracker.driver_acknowledged:
+        blinker_matches = (turn_tracker.direction == 'left' and left_blinker) or \
+                          (turn_tracker.direction == 'right' and right_blinker)
+        if not blinker_matches and estimated_dist > TURN_COMMIT_DISTANCE:
+          turn_tracker.driver_acknowledged = False
+          turn_tracker.steering_confirmed = False
+          cloudlog.info("maa: blinker canceled before commit, aborting turn assist")
+      maa.turnDistance = float(estimated_dist)
+      maa.turnValid = True
+      maa.turnAngle = float(turn_tracker.expected_angle)
+      maa.maneuverType = turn_tracker.maneuver_type
+      maa.turnSpeedLimit = float(turn_tracker.turn_speed_limit)
+
+      # Direction from captured state
+      if turn_tracker.direction == 'left':
+        maa.turnDirection = custom.MaaControl.TurnDirection.left
+      elif turn_tracker.direction == 'right':
+        maa.turnDirection = custom.MaaControl.TurnDirection.right
+      else:
+        maa.turnDirection = custom.MaaControl.TurnDirection.none
+
+      # Update tracker with dead reckoning
+      desire_active = turn_tracker.update(t, v_ego, yaw_rate)
+      maa.turnState = int(turn_tracker.state)
+      maa.turnProgress = float(turn_tracker.accumulated_yaw)
+
+      # Driver acknowledgment status
+      maa.driverAcknowledged = turn_tracker.driver_acknowledged
+
+      # Speed limit active when blinker on (driver acknowledged)
+      maa.speedLimitActive = turn_tracker.driver_acknowledged
+
+      # Block lane change when committed (blinker + within commit distance)
+      maa.blockLaneChange = turn_tracker.driver_acknowledged and estimated_dist <= TURN_COMMIT_DISTANCE
+
+      # desireActive: send turn desire to model (requires blinker)
+      maa.desireActive = desire_active
+
+      # Curvature from captured state (not recalculated)
+      maa.curvature = 0.0
+      maa.curvatureValid = False
+      maa.turnCurvature = 0.0
+
+    elif nav_valid and maneuver_dist is not None:
+      # No active turn tracking - check if we should trigger
+      maa.turnDistance = float(maneuver_dist)
+      maa.turnValid = maneuver_dist < TURN_VALID_DISTANCE
+
+      nav_type = getattr(nav, 'maneuverType', '') or ''
+      modifier = getattr(nav, 'maneuverModifier', '') or ''
+
+      # Get pre-computed turn geometry from navInstruction
+      turn_angle = getattr(nav, 'turnAngle', 0.0) or 0.0
+      turn_curvature = getattr(nav, 'turnCurvature', 0.0) or 0.0
+
+      maa.turnAngle = float(turn_angle)
+      maa.turnCurvature = float(turn_curvature)
+
+      # Compute maneuver type
+      maa.maneuverType = get_maneuver_type(nav_type, turn_angle)
+
+      # Set turn direction
+      if maa.maneuverType != custom.MaaControl.ManeuverType.none:
+        if 'left' in modifier.lower():
+          maa.turnDirection = custom.MaaControl.TurnDirection.left
+        elif 'right' in modifier.lower():
+          maa.turnDirection = custom.MaaControl.TurnDirection.right
+        elif turn_angle > TURN_MIN_ANGLE:
+          maa.turnDirection = custom.MaaControl.TurnDirection.left
+        elif turn_angle < -TURN_MIN_ANGLE:
+          maa.turnDirection = custom.MaaControl.TurnDirection.right
+        else:
+          maa.turnDirection = custom.MaaControl.TurnDirection.none
+      else:
+        maa.turnDirection = custom.MaaControl.TurnDirection.none
+
+      # Compute turn speed limit using CarrotPilot curvature lookup table
+      # Curvature-based is more accurate than heuristics when available
+      turn_speed_limit = get_turn_speed_limit(modifier, turn_angle, nav_type, turn_curvature)
+      maa.turnSpeedLimit = float(turn_speed_limit)
+
+      # Check if we should trigger dead reckoning
+      # Don't trigger if already in MISSED/COMPLETE state (wait for route change)
+      can_trigger = turn_tracker.state == TurnState.NONE
+      is_actionable = maa.maneuverType != custom.MaaControl.ManeuverType.none
+      has_direction = maa.turnDirection != custom.MaaControl.TurnDirection.none
+      is_significant = abs(turn_angle) >= TURN_MIN_ANGLE
+      in_trigger_range = maneuver_dist <= TURN_TRIGGER_DISTANCE
+
+      if can_trigger and is_actionable and has_direction and is_significant and in_trigger_range:
+        # Trigger! Capture turn params and start dead reckoning
+        turn_tracker.trigger(
+          t, maneuver_dist, turn_angle,
+          maa.maneuverType, maa.turnDirection, turn_speed_limit
+        )
+        # Check blinker and steering immediately after trigger
+        turn_tracker.check_blinker(left_blinker, right_blinker)
+        turn_tracker.check_steering(cs.steeringPressed, cs.steeringTorque)
+        # Blinker = approach confirmation, steering = turn execution confirmation
+        maa.desireActive = turn_tracker.driver_acknowledged and turn_tracker.steering_confirmed and maneuver_dist <= TURN_COMMIT_DISTANCE
+        maa.turnState = int(turn_tracker.state)
+        maa.turnProgress = 0.0
+        maa.driverAcknowledged = turn_tracker.driver_acknowledged
+        maa.speedLimitActive = turn_tracker.driver_acknowledged
+        maa.blockLaneChange = turn_tracker.driver_acknowledged and maneuver_dist <= TURN_COMMIT_DISTANCE
+      elif turn_tracker.state in (TurnState.COMPLETE, TurnState.MISSED):
+        # In cooldown - call update to handle state transitions
+        turn_tracker.update(t, v_ego, yaw_rate)
+        maa.desireActive = False
+        maa.turnState = int(turn_tracker.state)
+        maa.turnProgress = float(turn_tracker.accumulated_yaw)
+        maa.driverAcknowledged = False
+        maa.speedLimitActive = False
+        maa.blockLaneChange = False
+      else:
+        # Not triggered yet (turn too far away)
+        maa.desireActive = False
+        maa.turnState = int(TurnState.NONE)
+        maa.turnProgress = 0.0
+        maa.driverAcknowledged = False
+        maa.speedLimitActive = False
+        maa.blockLaneChange = False
+
+    else:
+      # No valid nav instruction
+      maa.turnValid = False
+      maa.turnDirection = custom.MaaControl.TurnDirection.none
+      maa.turnSpeedLimit = 50.0 / 3.6
+      maa.maneuverType = custom.MaaControl.ManeuverType.none
+      maa.turnAngle = 0.0
+      maa.turnCurvature = 0.0
+      maa.turnDistance = 9999.0
+      maa.desireActive = False
+      maa.turnState = int(TurnState.NONE)
+      maa.turnProgress = 0.0
+      maa.driverAcknowledged = False
+      maa.speedLimitActive = False
+      maa.blockLaneChange = False
+
+      # Only reset if not in MISSED state (wait for route change)
+      if turn_tracker.state != TurnState.MISSED:
+        turn_tracker.reset()
+
+    pm.send('maaControl', msg)
+    rk.keep_time()
+
+
+if __name__ == "__main__":
+  main()

dragonpilot/dashy/maa/maad.py

@@ -0,0 +1,566 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+dragonpilot Map-Aware Assist Daemon (maad)
+
+Handles route calculation and navigation instructions using OSRM routing.
+Similar to openpilot's navd but uses free OSRM API instead of Mapbox.
+
+Control signals (maaControl) are published by maa_controld.py separately
+for low-latency, deterministic control.
+
+Flow:
+1. Reads dp_maa_destination from params (set by dashy)
+2. Fetches route from OSRM (free routing API) - async to avoid blocking
+3. Subscribes to liveGPS for position updates
+4. Publishes navInstruction (for UI) and navRoute (for map display)
+"""
+import json
+import time
+import threading
+import queue
+from dataclasses import dataclass
+from typing import Optional
+
+import cereal.messaging as messaging
+from cereal import custom, log
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.swaglog import cloudlog
+
+from dragonpilot.dashy.maa.helpers import (
+  Coordinate,
+  coordinate_from_param,
+  find_closest_point_on_route,
+  distance_along_geometry,
+  compute_turn_angle_at_index,
+  compute_turn_curvature_at_index,
+)
+from dragonpilot.dashy.maa.providers import MapService
+from dragonpilot.dashy.maa.providers.models import Coordinate as ProviderCoordinate
+from dragonpilot.dashy.maa.route_tracker import RouteTracker, REROUTE_DISTANCE_BASE, REROUTE_DEBOUNCE_TIME
+
+MANEUVER_TRANSITION_THRESHOLD = 10  # meters past maneuver to transition
+NAV_RATE = 1.0  # Hz - navigation update rate
+
+
+@dataclass
+class Step:
+  """Represents a navigation step/segment."""
+  distance: float  # total distance of step in meters
+  duration: float  # duration in seconds
+  duration_typical: Optional[float]
+  name: str
+  maneuver_type: str
+  maneuver_modifier: str
+  geometry: list[Coordinate]  # coordinates for this step
+  speed_limit: Optional[float]  # m/s
+  speed_limit_sign: str  # 'mutcd' or 'vienna'
+  # Pre-computed turn geometry (computed once when route is fetched)
+  turn_angle: float = 0.0  # degrees, positive=left, negative=right
+  turn_curvature: float = 0.0  # 1/m, positive=left, negative=right
+  # Explicit maneuver point from OSRM (for fork/turn detection)
+  maneuver_point: Optional[Coordinate] = None
+
+
+class RouteEngine:
+  def __init__(self, sm: messaging.SubMaster, pm: messaging.PubMaster):
+    self.sm = sm
+    self.pm = pm
+    self.params = Params()
+    self.map_service = MapService(self.params)
+
+    # Get last GPS position from params
+    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
+    if self.last_position is None:
+      # Default to Taipei 101 for bench testing
+      self.last_position = Coordinate(25.033976, 121.564472)
+    self.last_bearing: Optional[float] = None
+
+    self.gps_ok = False
+    self.gps_speed = 0.0
+    self.gps_accuracy = 0.0  # horizontal accuracy in meters
+    self.last_gps_time = 0.0
+
+    # Route state
+    self.nav_destination: Optional[Coordinate] = None
+    self.route: Optional[list[Step]] = None
+    self.tracker = RouteTracker()  # OsmAnd-style route tracking
+
+    # Recompute state
+    self.recompute_backoff = 0
+    self.recompute_countdown = 0
+
+    # Async route calculation
+    self._route_queue: queue.Queue = queue.Queue()
+    self._route_thread: Optional[threading.Thread] = None
+    self._route_calculating = False
+
+    # Timing diagnostics
+    self._frame_count = 0
+    self._last_timing_log = time.monotonic()
+    self._gps_save_counter = 0
+    self._route_send_counter = 0
+
+    # Params cache - avoid reading params every frame
+    self._cached_destination: Optional[Coordinate] = None
+    self._last_destination_check = 0.0
+    self._destination_check_interval = 3.0  # seconds
+
+    # First valid GPS flag - triggers immediate route calculation
+    self._had_first_valid_gps = False
+
+  def update(self):
+    t0 = time.monotonic()
+
+    self.sm.update(0)
+    t1 = time.monotonic()
+
+    self._update_location()
+    self._check_route_result()  # Non-blocking check for async route result
+    t2 = time.monotonic()
+
+    try:
+      self._recompute_route()
+      t3 = time.monotonic()
+      self._send_instruction()
+      # Resend route periodically (every 1s) so new UI clients can see it
+      if self.route is not None:
+        self.send_route()
+      t4 = time.monotonic()
+    except Exception:
+      cloudlog.exception("maad.failed_to_compute")
+      t3 = t4 = time.monotonic()
+
+    # Log timing every 10 seconds
+    self._frame_count += 1
+    total_time = t4 - t0
+    if total_time > 0.05:  # Log if frame took > 50ms
+      cloudlog.warning(f"maad slow frame: total={total_time*1000:.0f}ms "
+                       f"(sm={1000*(t1-t0):.0f}, loc={1000*(t2-t1):.0f}, "
+                       f"route={1000*(t3-t2):.0f}, instr={1000*(t4-t3):.0f})")
+
+    if t4 - self._last_timing_log > 10.0:
+      actual_rate = self._frame_count / (t4 - self._last_timing_log)
+      cloudlog.info(f"maad rate: {actual_rate:.1f} Hz (target {NAV_RATE} Hz), frames={self._frame_count}")
+      self._frame_count = 0
+      self._last_timing_log = t4
+
+  def _check_route_result(self):
+    """Check for async route calculation result (non-blocking)."""
+    try:
+      result = self._route_queue.get_nowait()
+      self._route_calculating = False
+
+      if result is None:
+        # Route calculation failed
+        self._clear_route(clear_destination=False)
+        return
+
+      # Apply the calculated route
+      self.route, route_data = result
+      self.nav_curvature_valid = True
+
+      # Start at first step (simple, like navd.py)
+      self.tracker.set_step(0)
+      self._reset_recompute_limits()  # Reset backoff on successful route
+      cloudlog.warning(f"maad: route calculated - {route_data['distance']/1000:.1f}km, "
+                       f"{route_data['duration']/60:.0f}min, {len(self.route)} steps")
+
+      # Debug: log each step's maneuver info
+      for i, s in enumerate(self.route):
+        mp_str = f"({s.maneuver_point.latitude:.6f},{s.maneuver_point.longitude:.6f})" if s.maneuver_point else "None"
+        cloudlog.info(f"maad step {i}: {s.maneuver_type} {s.maneuver_modifier} -> '{s.name}' ({s.distance:.0f}m) mp={mp_str}")
+
+      self.send_route()
+
+    except queue.Empty:
+      pass  # No result yet
+
+  def _update_location(self):
+    """Update position from GPS."""
+    # Debug: log GPS reception status every 50 frames
+    self._gps_debug_counter = getattr(self, '_gps_debug_counter', 0) + 1
+    if self._gps_debug_counter >= 50:
+      self._gps_debug_counter = 0
+      gps = self.sm['liveGPS']
+      cloudlog.info(f"maad GPS: updated={self.sm.updated['liveGPS']} valid={self.sm.valid['liveGPS']} "
+                    f"gpsOK={gps.gpsOK} pos=({gps.latitude:.6f},{gps.longitude:.6f})")
+
+    if self.sm.updated['liveGPS']:
+      gps = self.sm['liveGPS']
+
+      # Always update position and speed from GPS (needed for route calculation)
+      if gps.gpsOK:
+        self.last_position = Coordinate(gps.latitude, gps.longitude)
+        self.gps_speed = gps.speed
+        self.gps_accuracy = gps.horizontalAccuracy  # Track for OsmAnd-style tolerance
+        self.last_gps_time = time.monotonic()
+
+        # Save last position every ~60 frames (12 seconds at 5Hz) to reduce I/O
+        self._gps_save_counter += 1
+        if self._gps_save_counter >= 60:
+          self._gps_save_counter = 0
+          self.params.put("LastGPSPosition", json.dumps({
+            'latitude': gps.latitude,
+            'longitude': gps.longitude
+          }))
+
+      # GPS is valid when OK, good accuracy, AND fully calibrated
+      was_gps_ok = self.gps_ok
+      is_calibrated = gps.status == custom.LiveGPS.Status.valid
+      self.gps_ok = gps.gpsOK and gps.horizontalAccuracy <= 20.0 and is_calibrated
+
+      # Only use bearing when fusion is fully calibrated
+      if is_calibrated:
+        self.last_bearing = gps.bearingDeg
+      else:
+        self.last_bearing = None  # clear stale bearing
+
+      # Detect first valid GPS - triggers immediate route check
+      if self.gps_ok and not was_gps_ok and not self._had_first_valid_gps:
+        self._had_first_valid_gps = True
+        cloudlog.info("maad: first valid GPS fix (calibrated), checking for destination")
+    
+    # Staleness check
+    if time.monotonic() - self.last_gps_time > 2.0:
+      self.gps_ok = False
+
+  def _recompute_route(self):
+    """Check if we need to recompute route."""
+    # Don't start route until GPS is valid (OK + calibrated)
+    if not self.gps_ok:
+      return
+
+    # Skip if route calculation is already in progress
+    if self._route_calculating:
+      return
+
+    # Check params - immediately on first valid GPS, otherwise every 3 seconds
+    now = time.monotonic()
+    first_gps_check = self._had_first_valid_gps and self.route is None and self._cached_destination is None
+    if first_gps_check or now - self._last_destination_check >= self._destination_check_interval:
+      self._last_destination_check = now
+      self._cached_destination = coordinate_from_param("dp_maa_destination", self.params)
+
+    new_destination = self._cached_destination
+    if new_destination is None:
+      if self.nav_destination is not None or self.route is not None:
+        self._clear_route()
+      self._reset_recompute_limits()
+      return
+
+    should_recompute = self._should_recompute()
+    if should_recompute and self.route is not None:
+      cloudlog.warning(f"maad: reroute triggered, countdown={self.recompute_countdown}, backoff={self.recompute_backoff}")
+
+    # New destination
+    if new_destination != self.nav_destination:
+      cloudlog.warning(f"Got new destination from dp_maa_destination param {new_destination}")
+      self.nav_destination = new_destination
+      should_recompute = True
+
+    # Don't recompute when GPS drifts in tunnels
+    if not self.gps_ok and self.tracker.step_idx is not None:
+      return
+
+    # First route calculation (no existing route) - start immediately without backoff
+    is_first_route = self.route is None and should_recompute
+    if is_first_route or (self.recompute_countdown == 0 and should_recompute):
+      if not is_first_route:
+        self.recompute_countdown = 2 ** self.recompute_backoff
+        self.recompute_backoff = min(3, self.recompute_backoff + 1)  # Max 8 second backoff
+      self._start_route_calculation(new_destination)
+    else:
+      self.recompute_countdown = max(0, self.recompute_countdown - 1)
+
+  def _start_route_calculation(self, destination: Coordinate):
+    """Start async route calculation in a separate thread."""
+    start_pos = self.last_position
+    bearing = self.last_bearing
+
+    self._route_calculating = True
+    self.nav_destination = destination
+
+    cloudlog.info(f"maad: starting async route calculation {start_pos} -> {destination}")
+
+    def calculate():
+      try:
+        result = self._fetch_route(start_pos, destination, bearing)
+        self._route_queue.put(result)
+      except Exception as e:
+        cloudlog.exception(f"maad: route calculation failed: {e}")
+        self._route_queue.put(None)
+
+    self._route_thread = threading.Thread(target=calculate, daemon=True)
+    self._route_thread.start()
+
+  def _fetch_route(self, start: Coordinate, destination: Coordinate,
+                   bearing: Optional[float]) -> Optional[tuple]:
+    """Fetch route using MapService (runs in thread). Returns (route, route_data) or None."""
+    origin = ProviderCoordinate(start.latitude, start.longitude)
+    dest = ProviderCoordinate(destination.latitude, destination.longitude)
+
+    provider_route = self.map_service.route_provider.get_route_sync(
+      origin=origin,
+      destination=dest,
+      bearing=bearing
+    )
+
+    if provider_route is None:
+      cloudlog.warning("maad: route provider returned None")
+      return None
+
+    # Convert provider Route to local Step format
+    # Filter out depart/arrive - merge their geometry with adjacent steps
+    route = []
+    all_coords = []  # Full route geometry for turn angle computation
+    pending_geometry = []  # Geometry from depart to merge with first real step
+
+    for provider_step in provider_route.steps:
+      # Convert provider Coordinates to helper Coordinates
+      geometry = [
+        Coordinate(c.latitude, c.longitude)
+        for c in provider_step.geometry
+      ]
+      all_coords.extend(geometry)
+
+      # Skip depart/arrive steps but keep their geometry
+      if provider_step.maneuver_type in ('depart', 'arrive'):
+        if provider_step.maneuver_type == 'depart':
+          pending_geometry = geometry  # Save for merging with first real step
+        elif provider_step.maneuver_type == 'arrive' and route:
+          # Merge arrive geometry with last step
+          route[-1].geometry.extend(geometry)
+          route[-1].distance += provider_step.distance
+          route[-1].duration += provider_step.duration
+        continue
+
+      # Merge pending depart geometry with this step
+      if pending_geometry:
+        geometry = pending_geometry + geometry
+        pending_geometry = []
+
+      # Convert provider maneuver_point to helpers Coordinate
+      maneuver_pt = None
+      if provider_step.maneuver_point:
+        maneuver_pt = Coordinate(
+          provider_step.maneuver_point.latitude,
+          provider_step.maneuver_point.longitude
+        )
+
+      route_step = Step(
+        distance=provider_step.distance,
+        duration=provider_step.duration,
+        duration_typical=provider_step.duration_typical or provider_step.duration,
+        name=provider_step.name,
+        maneuver_type=provider_step.maneuver_type,
+        maneuver_modifier=provider_step.maneuver_modifier,
+        geometry=geometry,
+        speed_limit=provider_step.speed_limit,
+        speed_limit_sign=provider_step.speed_limit_sign,
+        maneuver_point=maneuver_pt,
+      )
+      route.append(route_step)
+
+    # Pre-compute turn geometry at each step's maneuver point (end of step)
+    coord_idx = 0
+    for step in route:
+      coord_idx += len(step.geometry)
+      # Turn point is at the end of this step (start of next)
+      turn_idx = min(coord_idx - 1, len(all_coords) - 2)
+      if turn_idx > 0:
+        step.turn_angle = compute_turn_angle_at_index(all_coords, turn_idx)
+        step.turn_curvature = compute_turn_curvature_at_index(all_coords, turn_idx)
+
+    # Build route_data dict for compatibility
+    route_data = {
+      'distance': provider_route.distance,
+      'duration': provider_route.duration,
+    }
+
+    cloudlog.info(f"maad: route from {provider_route.provider} - "
+                  f"{provider_route.distance/1000:.1f}km, {len(route)} steps")
+
+    return (route, route_data)
+
+  def _send_instruction(self):
+    """Send navInstruction message ."""
+    msg = messaging.new_message('navInstruction', valid=True)
+
+    if self.tracker.step_idx is None or self.route is None or self.last_position is None or not self.gps_ok:
+      # Debug: log why we're sending invalid
+      reasons = []
+      if self.tracker.step_idx is None:
+        reasons.append("step_idx=None")
+      if self.route is None:
+        reasons.append("route=None")
+      if self.last_position is None:
+        reasons.append("position=None")
+      if not self.gps_ok:
+        reasons.append(f"gps_ok=False")
+      cloudlog.info(f"maad: sending invalid navInstruction: {', '.join(reasons)}")
+      msg.valid = False
+      self.pm.send('navInstruction', msg)
+      return
+
+    # Sanity check: ensure step_idx is valid
+    if self.tracker.step_idx >= len(self.route):
+      cloudlog.error(f"maad: step_idx {self.tracker.step_idx} >= route length {len(self.route)}, resetting to 0")
+      self.tracker.set_step(0)
+
+    step = self.route[self.tracker.step_idx]
+    geometry = step.geometry
+
+    # Calculate distance along current step geometry
+    along_geometry = distance_along_geometry(geometry, self.last_position)
+    distance_to_maneuver = step.distance - along_geometry
+
+    # Current instruction (depart/arrive already filtered out during route build)
+    msg.navInstruction.maneuverDistance = distance_to_maneuver
+    msg.navInstruction.maneuverPrimaryText = step.name or step.maneuver_type
+
+    # Override maneuver type/modifier based on geometry
+    # Geometry-first: always use turn_angle for direction when significant
+    TURN_MIN_ANGLE = 20.0
+    if abs(step.turn_angle) >= TURN_MIN_ANGLE:
+      # Significant turn - use geometry for both type and direction
+      if step.maneuver_type in ('continue', 'new name'):
+        msg.navInstruction.maneuverType = 'turn'
+      else:
+        msg.navInstruction.maneuverType = step.maneuver_type
+      # Always use geometry-based direction for significant turns
+      msg.navInstruction.maneuverModifier = 'left' if step.turn_angle > 0 else 'right'
+    else:
+      msg.navInstruction.maneuverType = step.maneuver_type
+      msg.navInstruction.maneuverModifier = step.maneuver_modifier
+
+    # Next step's road name (the road to turn onto)
+    if self.tracker.step_idx + 1 < len(self.route):
+      next_step = self.route[self.tracker.step_idx + 1]
+      msg.navInstruction.maneuverSecondaryText = next_step.name or ""
+
+    # Compute total remaining time and distance
+    remaining_ratio = 1.0 - along_geometry / max(step.distance, 1)
+    total_distance = step.distance * remaining_ratio
+    total_time = step.duration * remaining_ratio
+    total_time_typical = (step.duration_typical or step.duration) * remaining_ratio
+
+    for i in range(self.tracker.step_idx + 1, len(self.route)):
+      total_distance += self.route[i].distance
+      total_time += self.route[i].duration
+      total_time_typical += self.route[i].duration_typical or self.route[i].duration
+
+    msg.navInstruction.distanceRemaining = total_distance
+    msg.navInstruction.timeRemaining = total_time
+    msg.navInstruction.timeRemainingTypical = total_time_typical
+
+    # Speed limit from closest coordinate
+    if geometry:
+      closest_idx, _ = find_closest_point_on_route(self.last_position, geometry)
+      if closest_idx < len(geometry):
+        closest = geometry[closest_idx]
+        if 'maxspeed' in closest.annotations and self.gps_ok:
+          msg.navInstruction.speedLimit = closest.annotations['maxspeed']
+
+    if step.speed_limit_sign == 'mutcd':
+      msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd
+    else:
+      msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna
+
+    self.pm.send('navInstruction', msg)
+
+    # Send extended nav instruction (turn geometry)
+    msg_ext = messaging.new_message('navInstructionExt')
+    msg_ext.navInstructionExt.turnAngle = step.turn_angle
+    msg_ext.navInstructionExt.turnCurvature = step.turn_curvature
+    self.pm.send('navInstructionExt', msg_ext)
+
+    # Transition to next step
+    if self.tracker.update_step(self.route, self.last_position, self.last_bearing, self.gps_speed):
+      self._reset_recompute_limits()
+
+    # Check if arrived at destination
+    if self.nav_destination:
+      dist = self.nav_destination.distance_to(self.last_position)
+      if dist < 30:  # Within 30m of destination
+        cloudlog.warning("maad: destination reached")
+        self.params.remove("dp_maa_destination")
+        self._clear_route()
+
+  def send_route(self):
+    """Send navRoute message for dashy to display route on map."""
+    coords = []
+
+    if self.route is not None:
+      for step in self.route:
+        coords.extend([[c.longitude, c.latitude] for c in step.geometry])
+
+    msg = messaging.new_message('navRoute', valid=True)
+    msg.navRoute.coordinates = [{"longitude": c[0], "latitude": c[1]} for c in coords]
+    self.pm.send('navRoute', msg)
+
+  def _clear_route(self, clear_destination=True):
+    """Clear navigation state."""
+    self.route = None
+    self.tracker.reset()
+    if clear_destination:
+      self.nav_destination = None
+
+    # Send empty navRoute to clear map display
+    msg = messaging.new_message('navRoute', valid=False)
+    msg.navRoute.coordinates = []
+    self.pm.send('navRoute', msg)
+
+  def _reset_recompute_limits(self):
+    """Reset recompute backoff and deviation timer."""
+    self.recompute_backoff = 0
+    self.recompute_countdown = 0
+    self.tracker.deviation_start_time = None  # Reset OsmAnd-style deviation timer
+
+  def _should_recompute(self) -> bool:
+    """Check if route should be recomputed (delegates to RouteTracker)."""
+    if self.route is None:
+      return True
+    return self.tracker.should_reroute(self.route, self.last_position, self.gps_accuracy)
+
+
+def main():
+  cloudlog.info("maad starting")
+
+  pm = messaging.PubMaster(['navInstruction', 'navInstructionExt', 'navRoute'])
+  sm = messaging.SubMaster(['liveGPS'], ignore_alive=['liveGPS'])
+
+  rk = Ratekeeper(NAV_RATE)
+  route_engine = RouteEngine(sm, pm)
+
+  while True:
+    try:
+      route_engine.update()
+    except Exception:
+      cloudlog.exception("maad: error in main loop")
+    rk.keep_time()
+
+
+if __name__ == "__main__":
+  main()

dragonpilot/dashy/maa/providers/__init__.py

@@ -0,0 +1,54 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Map Provider Abstraction Layer
+
+Uses api.dragonpilot.org for search and routing with device JWT authentication.
+Falls back to free providers (Photon/OSRM) when not authenticated.
+
+Usage:
+    from dragonpilot.dashy.maa.providers import MapService
+
+    map_service = MapService()
+    route = map_service.route_provider.get_route_sync(origin, dest)
+    results = await map_service.search_provider.search("Taipei 101")
+"""
+
+from .map_service import MapService
+from .models import Coordinate, SearchResult, Route, Step, TileConfig
+from .base import SearchProvider, RouteProvider, TileProvider
+from .dragonpilot import DragonpilotSearchProvider, DragonpilotRouteProvider, DragonpilotApiClient
+
+__all__ = [
+    'MapService',
+    'Coordinate',
+    'SearchResult',
+    'Route',
+    'Step',
+    'TileConfig',
+    'SearchProvider',
+    'RouteProvider',
+    'TileProvider',
+    'DragonpilotSearchProvider',
+    'DragonpilotRouteProvider',
+    'DragonpilotApiClient',
+]

dragonpilot/dashy/maa/providers/base.py

@@ -0,0 +1,177 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Abstract base classes for map providers.
+
+These interfaces define the contract that all provider implementations must follow.
+"""
+
+from abc import ABC, abstractmethod
+from typing import Optional
+import asyncio
+
+from .models import Coordinate, SearchResult, Route, TileConfig
+
+
+class SearchProvider(ABC):
+    """
+    Abstract search/geocoding provider.
+
+    Implementations: PhotonSearchProvider, MapboxSearchProvider, etc.
+    """
+
+    name: str = "base"
+    requires_api_key: bool = False
+
+    @abstractmethod
+    async def search(
+        self,
+        query: str,
+        proximity: Optional[Coordinate] = None,
+        limit: int = 10
+    ) -> list[SearchResult]:
+        """
+        Search for places by query string.
+
+        Args:
+            query: Search query (address, place name, etc.)
+            proximity: Optional coordinate to bias results toward
+            limit: Maximum number of results
+
+        Returns:
+            List of SearchResult objects sorted by relevance/distance
+        """
+        pass
+
+    @abstractmethod
+    async def reverse_geocode(
+        self,
+        coord: Coordinate
+    ) -> Optional[SearchResult]:
+        """
+        Get address/place information from coordinates.
+
+        Args:
+            coord: Coordinate to reverse geocode
+
+        Returns:
+            SearchResult with address info, or None if not found
+        """
+        pass
+
+    def search_sync(
+        self,
+        query: str,
+        proximity: Optional[Coordinate] = None,
+        limit: int = 10
+    ) -> list[SearchResult]:
+        """Synchronous wrapper for search()."""
+        loop = asyncio.new_event_loop()
+        try:
+            return loop.run_until_complete(self.search(query, proximity, limit))
+        finally:
+            loop.close()
+
+
+class RouteProvider(ABC):
+    """
+    Abstract routing provider.
+
+    Implementations: OSRMRouteProvider, MapboxRouteProvider, etc.
+    """
+
+    name: str = "base"
+    requires_api_key: bool = False
+    supports_traffic: bool = False
+
+    @abstractmethod
+    async def get_route(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]] = None,
+        bearing: Optional[float] = None
+    ) -> Optional[Route]:
+        """
+        Calculate route between points.
+
+        Args:
+            origin: Starting coordinate
+            destination: Ending coordinate
+            waypoints: Optional intermediate waypoints
+            bearing: Optional current heading in degrees (for better route start)
+
+        Returns:
+            Route object with steps and geometry, or None if routing fails
+        """
+        pass
+
+    def get_route_sync(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]] = None,
+        bearing: Optional[float] = None
+    ) -> Optional[Route]:
+        """
+        Synchronous wrapper for get_route().
+
+        Use this in maad.py where async is not available.
+        """
+        loop = asyncio.new_event_loop()
+        try:
+            return loop.run_until_complete(
+                self.get_route(origin, destination, waypoints, bearing)
+            )
+        finally:
+            loop.close()
+
+
+class TileProvider(ABC):
+    """
+    Abstract map tile provider.
+
+    Implementations: OpenFreeMapTileProvider, MapboxTileProvider, etc.
+    """
+
+    name: str = "base"
+    requires_api_key: bool = False
+
+    @abstractmethod
+    def get_tile_config(self) -> TileConfig:
+        """
+        Get tile URL template and configuration.
+
+        Returns:
+            TileConfig with URL template and attribution
+        """
+        pass
+
+    @abstractmethod
+    def get_style_json(self) -> dict:
+        """
+        Get MapLibre GL style JSON for this provider.
+
+        Returns:
+            Style JSON dict for MapLibre GL JS
+        """
+        pass

dragonpilot/dashy/maa/providers/config.py

@@ -0,0 +1,45 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Configuration for map providers.
+
+Uses api.dragonpilot.org for search and routing with device serial authentication.
+Falls back to free providers (Photon/OSRM) when not authenticated.
+All providers use WGS-84 coordinates (standard GPS).
+"""
+
+from dataclasses import dataclass
+
+
+@dataclass
+class ProviderConfig:
+    """
+    Provider configuration.
+
+    Uses Dragonpilot API with automatic fallback to free providers.
+    All providers use WGS-84 coordinates (standard GPS).
+    """
+
+    @classmethod
+    def from_params(cls, params) -> 'ProviderConfig':
+        """Load configuration from openpilot Params."""
+        return cls()

dragonpilot/dashy/maa/providers/dragonpilot/__init__.py

@@ -0,0 +1,32 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Dragonpilot API Provider
+
+Uses api.dragonpilot.org for search and routing with device JWT authentication.
+"""
+
+from .client import DragonpilotApiClient
+from .search import DragonpilotSearchProvider
+from .routing import DragonpilotRouteProvider
+
+__all__ = ['DragonpilotApiClient', 'DragonpilotSearchProvider', 'DragonpilotRouteProvider']

dragonpilot/dashy/maa/providers/dragonpilot/client.py

@@ -0,0 +1,123 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Dragonpilot API Client
+
+Simple HTTP client using device serial for authentication.
+"""
+
+import os
+from typing import Optional
+import aiohttp
+import requests
+
+from openpilot.system.hardware import HARDWARE
+
+API_HOST = os.getenv('DRAGONPILOT_API_HOST', 'https://api.dragonpilot.org')
+
+# Module-level serial cache - queried once from HARDWARE
+_serial: Optional[str] = None
+
+
+def _get_serial() -> Optional[str]:
+    """Get device serial (cached)."""
+    global _serial
+    if _serial is None:
+        try:
+            _serial = HARDWARE.get_serial()
+        except Exception:
+            pass
+    return _serial
+
+
+class DragonpilotApiClient:
+    """
+    API client for api.dragonpilot.org.
+
+    Uses device serial from HARDWARE for authentication.
+    """
+
+    def __init__(self, serial: str = None):
+        self.api_host = API_HOST
+        self.serial = serial if serial is not None else _get_serial()
+
+    @property
+    def is_authenticated(self) -> bool:
+        return self.serial is not None
+
+    def _headers(self) -> dict:
+        headers = {'Content-Type': 'application/json'}
+        if self.serial:
+            headers['X-Device-Serial'] = self.serial
+        return headers
+
+    def get_sync(self, endpoint: str, params: dict = None, timeout: int = 10) -> Optional[dict]:
+        try:
+            resp = requests.get(f"{self.api_host}{endpoint}", params=params, headers=self._headers(), timeout=timeout)
+            return resp.json() if resp.status_code == 200 else None
+        except Exception:
+            return None
+
+    def post_sync(self, endpoint: str, data: dict = None, timeout: int = 10) -> Optional[dict]:
+        try:
+            resp = requests.post(f"{self.api_host}{endpoint}", json=data, headers=self._headers(), timeout=timeout)
+            return resp.json() if resp.status_code == 200 else None
+        except Exception:
+            return None
+
+    async def get(self, endpoint: str, params: dict = None, timeout: int = 10) -> Optional[dict]:
+        try:
+            async with aiohttp.ClientSession() as session:
+                async with session.get(
+                    f"{self.api_host}{endpoint}",
+                    params=params,
+                    headers=self._headers(),
+                    timeout=aiohttp.ClientTimeout(total=timeout)
+                ) as resp:
+                    return await resp.json() if resp.status == 200 else None
+        except Exception:
+            return None
+
+    async def post(self, endpoint: str, data: dict = None, timeout: int = 10) -> Optional[dict]:
+        try:
+            async with aiohttp.ClientSession() as session:
+                async with session.post(
+                    f"{self.api_host}{endpoint}",
+                    json=data,
+                    headers=self._headers(),
+                    timeout=aiohttp.ClientTimeout(total=timeout)
+                ) as resp:
+                    return await resp.json() if resp.status == 200 else None
+        except Exception:
+            return None
+
+
+# Singleton client instance
+_client: Optional[DragonpilotApiClient] = None
+
+
+def get_client() -> DragonpilotApiClient:
+    """Get the shared API client instance."""
+    global _client
+    if _client is None:
+        _client = DragonpilotApiClient()
+    return _client

dragonpilot/dashy/maa/providers/dragonpilot/routing.py

@@ -0,0 +1,269 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Dragonpilot Routing Provider
+
+Uses api.dragonpilot.org routing endpoint with device serial authentication.
+Falls back to OSRM if not authenticated or on error.
+"""
+
+from typing import Optional
+
+from openpilot.common.swaglog import cloudlog
+
+from ..base import RouteProvider
+from ..models import Coordinate, Route, Step
+from .client import get_client
+
+
+def decode_polyline(polyline: str) -> list[tuple[float, float]]:
+    """
+    Decode a Google/HERE Encoded Polyline into (lat, lon) tuples.
+
+    Algorithm: https://developers.google.com/maps/documentation/utilities/polylinealgorithm
+    """
+    coordinates = []
+    index = 0
+    lat = 0
+    lng = 0
+
+    while index < len(polyline):
+        # Decode latitude
+        result = 0
+        shift = 0
+        while True:
+            b = ord(polyline[index]) - 63
+            index += 1
+            result |= (b & 0x1f) << shift
+            shift += 5
+            if b < 0x20:
+                break
+        lat += (~(result >> 1) if result & 1 else result >> 1)
+
+        # Decode longitude
+        result = 0
+        shift = 0
+        while True:
+            b = ord(polyline[index]) - 63
+            index += 1
+            result |= (b & 0x1f) << shift
+            shift += 5
+            if b < 0x20:
+                break
+        lng += (~(result >> 1) if result & 1 else result >> 1)
+
+        coordinates.append((lat / 1e5, lng / 1e5))
+
+    return coordinates
+
+
+# Map action to OSRM-style maneuver type/modifier
+ACTION_MAP = {
+    'depart': ('depart', ''),
+    'arrive': ('arrive', ''),
+    'turn': ('turn', ''),
+    'turn-left': ('turn', 'left'),
+    'turn-right': ('turn', 'right'),
+    'turn-slight-left': ('turn', 'slight left'),
+    'turn-slight-right': ('turn', 'slight right'),
+    'turn-sharp-left': ('turn', 'sharp left'),
+    'turn-sharp-right': ('turn', 'sharp right'),
+    'continue': ('continue', 'straight'),
+    'keep': ('continue', ''),
+    'merge': ('merge', ''),
+    'roundabout': ('roundabout', ''),
+    'roundaboutExit': ('roundabout', 'exit'),
+    'ferry': ('ferry', ''),
+    'uturn': ('turn', 'uturn'),
+}
+
+
+class DragonpilotRouteProvider(RouteProvider):
+    """
+    Dragonpilot API routing provider.
+
+    Uses device serial for authentication. Falls back to OSRM on auth failure.
+
+    API Response format:
+    {
+      "route": {
+        "route_id": "...",
+        "distance_m": 6837,
+        "duration_s": 759,
+        "duration_traffic_s": 1595,
+        "polyline": "...",
+        "maneuvers": [{
+          "instruction": "Turn left onto Main Street",
+          "distance_m": 500,
+          "duration_s": 60,
+          "position": {"lat": 25.03, "lon": 121.56},
+          "action": "turn"
+        }],
+        "provider": "here"
+      },
+      "cached": false,
+      "provider": "here"
+    }
+    """
+
+    name = "dragonpilot"
+    requires_api_key = False
+    supports_traffic = True
+
+    def __init__(self):
+        self._client = get_client()
+        self._fallback = None
+
+    def _get_fallback(self) -> RouteProvider:
+        """Get fallback OSRM provider."""
+        if self._fallback is None:
+            from ..routing.osrm import OSRMRouteProvider
+            self._fallback = OSRMRouteProvider()
+        return self._fallback
+
+    async def get_route(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]] = None,
+        bearing: Optional[float] = None
+    ) -> Optional[Route]:
+        """Calculate route using Dragonpilot API (async)."""
+        if not self._client.is_authenticated:
+            cloudlog.warning("dragonpilot routing: no serial, using osrm fallback")
+            return await self._get_fallback().get_route(origin, destination, waypoints, bearing)
+
+        data = self._build_request(origin, destination, waypoints)
+        response = await self._client.post('/v1/route', data=data, timeout=30)
+
+        if response is None:
+            cloudlog.warning("dragonpilot routing: API error, using osrm fallback")
+            return await self._get_fallback().get_route(origin, destination, waypoints, bearing)
+
+        return self._parse_response(response)
+
+    def get_route_sync(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]] = None,
+        bearing: Optional[float] = None
+    ) -> Optional[Route]:
+        """Calculate route using Dragonpilot API (synchronous)."""
+        if not self._client.is_authenticated:
+            cloudlog.warning("dragonpilot routing: no serial, using osrm fallback")
+            return self._get_fallback().get_route_sync(origin, destination, waypoints, bearing)
+
+        data = self._build_request(origin, destination, waypoints)
+        response = self._client.post_sync('/v1/route', data=data, timeout=30)
+
+        if response is None:
+            cloudlog.warning("dragonpilot routing: API error, using osrm fallback")
+            return self._get_fallback().get_route_sync(origin, destination, waypoints, bearing)
+
+        return self._parse_response(response)
+
+    def _build_request(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]]
+    ) -> dict:
+        """Build API request body."""
+        origin = origin.to_wgs84() if hasattr(origin, 'to_wgs84') else origin
+        destination = destination.to_wgs84() if hasattr(destination, 'to_wgs84') else destination
+
+        data = {
+            'origin': {'lat': origin.latitude, 'lon': origin.longitude},
+            'destination': {'lat': destination.latitude, 'lon': destination.longitude},
+        }
+
+        if waypoints:
+            data['waypoints'] = []
+            for wp in waypoints:
+                wp = wp.to_wgs84() if hasattr(wp, 'to_wgs84') else wp
+                data['waypoints'].append({'lat': wp.latitude, 'lon': wp.longitude})
+
+        return data
+
+    def _parse_response(self, data: dict) -> Optional[Route]:
+        """Parse API response into Route object."""
+        if not data:
+            return None
+
+        # Unwrap route object
+        route_data = data.get('route', data)
+
+        # Decode full route geometry
+        full_geometry = []
+        polyline = route_data.get('polyline', '')
+        if polyline:
+            try:
+                for lat, lon in decode_polyline(polyline):
+                    coord = Coordinate(lat, lon)
+                    full_geometry.append(coord)
+            except Exception:
+                pass
+
+        # Parse maneuvers into steps
+        steps = []
+        maneuvers = route_data.get('maneuvers', [])
+
+        for maneuver in maneuvers:
+            pos = maneuver.get('position', {})
+            action = maneuver.get('action', 'continue')
+
+            # Map action to maneuver type/modifier
+            maneuver_type, maneuver_modifier = ACTION_MAP.get(action, ('continue', ''))
+
+            # Get maneuver point
+            maneuver_point = None
+            if pos.get('lat') is not None and pos.get('lon') is not None:
+                maneuver_point = Coordinate(pos['lat'], pos['lon'])
+
+            # Use full instruction text as the step name
+            instruction = maneuver.get('instruction', '')
+
+            steps.append(Step(
+                distance=maneuver.get('distance_m', 0),
+                duration=maneuver.get('duration_s', 0),
+                name=instruction,
+                maneuver_type=maneuver_type,
+                maneuver_modifier=maneuver_modifier,
+                geometry=[maneuver_point] if maneuver_point else [],
+                speed_limit=None,
+                speed_limit_sign='vienna',
+                maneuver_point=maneuver_point,
+            ))
+
+        # Use traffic duration if available
+        duration = route_data.get('duration_traffic_s') or route_data.get('duration_s', 0)
+
+        return Route(
+            steps=steps,
+            distance=route_data.get('distance_m', 0),
+            duration=duration,
+            geometry=full_geometry,
+            provider=self.name,
+            has_traffic=route_data.get('duration_traffic_s') is not None,
+            raw=data,
+        )

dragonpilot/dashy/maa/providers/dragonpilot/search.py

@@ -0,0 +1,191 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Dragonpilot Search Provider
+
+Uses api.dragonpilot.org geocoding endpoint for address search.
+Falls back to Photon if not authenticated or on error.
+"""
+
+from typing import Optional
+
+from openpilot.common.swaglog import cloudlog
+
+from ..base import SearchProvider
+from ..models import Coordinate, SearchResult
+from .client import get_client
+
+
+class DragonpilotSearchProvider(SearchProvider):
+    """
+    Dragonpilot API search provider.
+
+    Uses device serial for authentication. Falls back to Photon on auth failure.
+
+    API Response format:
+    {
+      "results": [{
+        "id": "here:...",
+        "title": "Taipei 101",
+        "address": "No. 7, Section 5, Xinyi Road",
+        "position": {"lat": 25.033, "lon": 121.565},
+        "category": "landmark",
+        "distance_m": 150
+      }],
+      "provider": "here"
+    }
+    """
+
+    name = "dragonpilot"
+    requires_api_key = False
+
+    def __init__(self):
+        self._client = get_client()
+        self._fallback = None
+
+    def _get_fallback(self) -> SearchProvider:
+        """Get fallback Photon provider."""
+        if self._fallback is None:
+            from ..search.photon import PhotonSearchProvider
+            self._fallback = PhotonSearchProvider()
+        return self._fallback
+
+    async def search(
+        self,
+        query: str,
+        proximity: Optional[Coordinate] = None,
+        limit: int = 10
+    ) -> list[SearchResult]:
+        """Search for places using Dragonpilot API (async)."""
+        if not query or len(query) < 1:
+            return []
+
+        # Fall back to Photon if not authenticated
+        if not self._client.is_authenticated:
+            cloudlog.debug("dragonpilot search: no serial, using photon fallback")
+            return await self._get_fallback().search(query, proximity, limit)
+
+        params = {'q': query, 'limit': min(limit, 10)}
+
+        if proximity:
+            prox = proximity.to_wgs84() if hasattr(proximity, 'to_wgs84') else proximity
+            params['lat'] = prox.latitude
+            params['lon'] = prox.longitude
+
+        data = await self._client.get('/v1/geocode/autocomplete', params=params)
+
+        if data is None:
+            cloudlog.debug("dragonpilot search: API error, using photon fallback")
+            return await self._get_fallback().search(query, proximity, limit)
+
+        return self._parse_results(data, proximity, limit)
+
+    def search_sync(
+        self,
+        query: str,
+        proximity: Optional[Coordinate] = None,
+        limit: int = 10
+    ) -> list[SearchResult]:
+        """Search for places using Dragonpilot API (synchronous)."""
+        if not query or len(query) < 1:
+            return []
+
+        # Fall back to Photon if not authenticated
+        if not self._client.is_authenticated:
+            cloudlog.debug("dragonpilot search: no serial, using photon fallback")
+            return self._get_fallback().search_sync(query, proximity, limit)
+
+        params = {'q': query, 'limit': min(limit, 10)}
+
+        if proximity:
+            prox = proximity.to_wgs84() if hasattr(proximity, 'to_wgs84') else proximity
+            params['lat'] = prox.latitude
+            params['lon'] = prox.longitude
+
+        data = self._client.get_sync('/v1/geocode/autocomplete', params=params)
+
+        if data is None:
+            cloudlog.debug("dragonpilot search: API error, using photon fallback")
+            return self._get_fallback().search_sync(query, proximity, limit)
+
+        return self._parse_results(data, proximity, limit)
+
+    async def reverse_geocode(self, coord: Coordinate) -> Optional[SearchResult]:
+        """Get address from coordinates. Falls back to Photon."""
+        return await self._get_fallback().reverse_geocode(coord)
+
+    def _parse_results(
+        self,
+        data: dict,
+        proximity: Optional[Coordinate],
+        limit: int
+    ) -> list[SearchResult]:
+        """Parse API response into SearchResult list."""
+        results = []
+
+        # Handle both GeoJSON format (features) and simple format (results)
+        items = data.get('features', data.get('results', []))
+
+        for item in items:
+            try:
+                # GeoJSON format
+                if 'geometry' in item:
+                    coords = item['geometry']['coordinates']
+                    lon, lat = coords[0], coords[1]  # GeoJSON is [lon, lat]
+                    props = item.get('properties', {})
+                    title = props.get('title', 'Unknown')
+                    address = props.get('address', '')
+                    place_id = props.get('id')
+                    distance = props.get('distance_m')
+                # Simple format
+                else:
+                    pos = item.get('position', {})
+                    lat = pos.get('lat')
+                    lon = pos.get('lon')
+                    title = item.get('title', 'Unknown')
+                    address = item.get('address', '')
+                    place_id = item.get('id')
+                    distance = item.get('distance_m')
+
+                if lat is None or lon is None:
+                    continue
+
+                coord = Coordinate(lat, lon)
+
+                # Calculate distance if not provided
+                if distance is None and proximity:
+                    prox = proximity.to_wgs84() if hasattr(proximity, 'to_wgs84') else proximity
+                    distance = Coordinate(lat, lon).distance_to(prox)
+
+                results.append(SearchResult(
+                    name=title,
+                    address=address,
+                    coordinate=coord,
+                    distance=distance,
+                    place_id=place_id,
+                    provider=self.name,
+                    raw=item,
+                ))
+            except (KeyError, TypeError, IndexError):
+                continue
+
+        return results[:limit]

dragonpilot/dashy/maa/providers/factory.py

@@ -0,0 +1,56 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Provider factory for creating map service instances.
+
+Uses api.dragonpilot.org for search and routing.
+"""
+
+from .config import ProviderConfig
+from .base import SearchProvider, RouteProvider, TileProvider
+
+
+class ProviderFactory:
+    """
+    Factory for creating map providers.
+
+    Uses Dragonpilot API providers which have built-in fallback
+    to free providers (Photon/OSRM) when not authenticated.
+    """
+
+    @classmethod
+    def create_search_provider(cls, config: ProviderConfig) -> SearchProvider:
+        """Create search provider."""
+        from .dragonpilot.search import DragonpilotSearchProvider
+        return DragonpilotSearchProvider()
+
+    @classmethod
+    def create_route_provider(cls, config: ProviderConfig) -> RouteProvider:
+        """Create route provider."""
+        from .dragonpilot.routing import DragonpilotRouteProvider
+        return DragonpilotRouteProvider()
+
+    @classmethod
+    def create_tile_provider(cls, config: ProviderConfig) -> TileProvider:
+        """Create tile provider."""
+        from .tiles.openfreemap import OpenFreeMapTileProvider
+        return OpenFreeMapTileProvider()

dragonpilot/dashy/maa/providers/map_service.py

@@ -0,0 +1,188 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Map Service - Main entry point for all map operations.
+
+Usage:
+    from dragonpilot.dashy.maa.providers import MapService
+
+    # In maad.py (sync):
+    map_service = MapService()
+    route = map_service.route_provider.get_route_sync(origin, dest)
+
+    # In server.py (async):
+    results = await MapService.get_instance().search_provider.search("Taipei 101")
+
+    # Get tile config for frontend:
+    tile_config = map_service.get_tile_config_for_js()
+"""
+
+from typing import Optional
+
+from .config import ProviderConfig
+from .factory import ProviderFactory
+from .base import SearchProvider, RouteProvider, TileProvider
+
+
+class MapService:
+    """
+    Main entry point for all map operations.
+
+    Provides lazy-loaded access to search, routing, and tile providers.
+    Configuration is read from openpilot Params.
+    """
+
+    _instance: Optional['MapService'] = None
+
+    def __init__(self, params=None):
+        """
+        Initialize MapService.
+
+        Args:
+            params: Optional openpilot Params instance.
+                    If None, will be created when needed.
+        """
+        self._params = params
+        self._config: Optional[ProviderConfig] = None
+        self._search_provider: Optional[SearchProvider] = None
+        self._route_provider: Optional[RouteProvider] = None
+        self._tile_provider: Optional[TileProvider] = None
+
+    @classmethod
+    def get_instance(cls, params=None) -> 'MapService':
+        """
+        Get singleton instance of MapService.
+
+        Args:
+            params: Optional Params instance for first-time initialization
+        """
+        if cls._instance is None:
+            cls._instance = cls(params)
+        return cls._instance
+
+    @classmethod
+    def reset_instance(cls):
+        """Reset singleton instance. Useful for testing or config reload."""
+        cls._instance = None
+
+    def _get_params(self):
+        """Get or create Params instance."""
+        if self._params is None:
+            from openpilot.common.params import Params
+            self._params = Params()
+        return self._params
+
+    def reload_config(self):
+        """
+        Reload configuration from params and recreate providers.
+
+        Call this after changing provider settings in params.
+        """
+        self._config = ProviderConfig.from_params(self._get_params())
+        self._search_provider = None
+        self._route_provider = None
+        self._tile_provider = None
+
+    @property
+    def config(self) -> ProviderConfig:
+        """Get current configuration, loading from params if needed."""
+        if self._config is None:
+            self._config = ProviderConfig.from_params(self._get_params())
+        return self._config
+
+    @property
+    def search_provider(self) -> SearchProvider:
+        """Get search provider, creating if needed."""
+        if self._search_provider is None:
+            # Import providers to trigger registration
+            self._ensure_providers_imported()
+            self._search_provider = ProviderFactory.create_search_provider(self.config)
+        return self._search_provider
+
+    @property
+    def route_provider(self) -> RouteProvider:
+        """Get route provider, creating if needed."""
+        if self._route_provider is None:
+            # Import providers to trigger registration
+            self._ensure_providers_imported()
+            self._route_provider = ProviderFactory.create_route_provider(self.config)
+        return self._route_provider
+
+    @property
+    def tile_provider(self) -> TileProvider:
+        """Get tile provider, creating if needed."""
+        if self._tile_provider is None:
+            # Import providers to trigger registration
+            self._ensure_providers_imported()
+            self._tile_provider = ProviderFactory.create_tile_provider(self.config)
+        return self._tile_provider
+
+    def _ensure_providers_imported(self):
+        """Import provider modules to trigger registration."""
+        try:
+            from . import search
+            from . import routing
+            from . import tiles
+        except ImportError:
+            pass
+
+    def get_tile_config_for_js(self) -> dict:
+        """
+        Get tile configuration as dict for JavaScript frontend.
+
+        Returns dict suitable for sending to frontend via API.
+        """
+        tile_config = self.tile_provider.get_tile_config()
+        style = self.tile_provider.get_style_json()
+        return {
+            'provider': self.config.tile_provider.value,
+            'url_template': tile_config.url_template,
+            'style': style,
+            'attribution': tile_config.attribution,
+            'min_zoom': tile_config.min_zoom,
+            'max_zoom': tile_config.max_zoom,
+        }
+
+    def get_provider_info(self) -> dict:
+        """
+        Get information about current providers.
+
+        Useful for debugging and UI display.
+        """
+        return {
+            'search': {
+                'provider': self.config.search_provider.value,
+                'name': self.search_provider.name,
+                'requires_api_key': self.search_provider.requires_api_key,
+            },
+            'route': {
+                'provider': self.config.route_provider.value,
+                'name': self.route_provider.name,
+                'requires_api_key': self.route_provider.requires_api_key,
+                'supports_traffic': self.route_provider.supports_traffic,
+            },
+            'tile': {
+                'provider': self.config.tile_provider.value,
+                'name': self.tile_provider.name,
+                'requires_api_key': self.tile_provider.requires_api_key,
+            },
+        }

dragonpilot/dashy/maa/providers/models.py

@@ -0,0 +1,180 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Data models for map providers.
+
+These models provide a common interface for search results, routes, and coordinates
+across different providers (OSRM, Mapbox, Google, AMap).
+"""
+
+from __future__ import annotations
+import math
+from dataclasses import dataclass, field
+from typing import Optional
+from enum import Enum
+
+
+EARTH_MEAN_RADIUS = 6371007.2  # meters
+
+
+class CoordinateSystem(Enum):
+    """Coordinate reference system."""
+    WGS84 = "wgs84"    # Standard GPS coordinates (used globally)
+    GCJ02 = "gcj02"    # China encrypted coordinates (required for China maps)
+
+
+@dataclass
+class Coordinate:
+    """
+    Geographic coordinate with optional coordinate system awareness.
+
+    Supports WGS-84 (standard GPS) and GCJ-02 (China) coordinate systems.
+    Provides distance and bearing calculations.
+    """
+    latitude: float
+    longitude: float
+    system: CoordinateSystem = CoordinateSystem.WGS84
+    annotations: dict = field(default_factory=dict)
+
+    def distance_to(self, other: Coordinate) -> float:
+        """Calculate Haversine distance to another coordinate in meters."""
+        dlat = math.radians(other.latitude - self.latitude)
+        dlon = math.radians(other.longitude - self.longitude)
+
+        haversine_dlat = math.sin(dlat / 2.0)
+        haversine_dlat *= haversine_dlat
+        haversine_dlon = math.sin(dlon / 2.0)
+        haversine_dlon *= haversine_dlon
+
+        y = haversine_dlat + \
+            math.cos(math.radians(self.latitude)) * \
+            math.cos(math.radians(other.latitude)) * \
+            haversine_dlon
+        x = 2 * math.asin(math.sqrt(y))
+        return x * EARTH_MEAN_RADIUS
+
+    def bearing_to(self, other: Coordinate) -> float:
+        """Calculate bearing to another coordinate in degrees (0-360)."""
+        lat1, lat2 = math.radians(self.latitude), math.radians(other.latitude)
+        dlon = math.radians(other.longitude - self.longitude)
+        x = math.sin(dlon) * math.cos(lat2)
+        y = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dlon)
+        bearing = math.degrees(math.atan2(x, y))
+        return (bearing + 360) % 360
+
+    def to_wgs84(self) -> Coordinate:
+        """Convert to WGS-84 coordinate system."""
+        if self.system == CoordinateSystem.WGS84:
+            return self
+        from .utils.coordinates import gcj02_to_wgs84
+        lat, lon = gcj02_to_wgs84(self.latitude, self.longitude)
+        return Coordinate(lat, lon, CoordinateSystem.WGS84, self.annotations.copy())
+
+    def to_gcj02(self) -> Coordinate:
+        """Convert to GCJ-02 coordinate system (for China maps)."""
+        if self.system == CoordinateSystem.GCJ02:
+            return self
+        from .utils.coordinates import wgs84_to_gcj02
+        lat, lon = wgs84_to_gcj02(self.latitude, self.longitude)
+        return Coordinate(lat, lon, CoordinateSystem.GCJ02, self.annotations.copy())
+
+    def as_dict(self) -> dict:
+        """Convert to dictionary."""
+        return {'latitude': self.latitude, 'longitude': self.longitude}
+
+    def __str__(self) -> str:
+        return f'Coordinate({self.latitude:.6f}, {self.longitude:.6f})'
+
+    def __repr__(self) -> str:
+        return self.__str__()
+
+    def __eq__(self, other) -> bool:
+        if not isinstance(other, Coordinate):
+            return False
+        return self.latitude == other.latitude and self.longitude == other.longitude
+
+    def __hash__(self) -> int:
+        return hash((self.latitude, self.longitude))
+
+
+@dataclass
+class SearchResult:
+    """
+    Normalized search/geocoding result.
+
+    All search providers return results in this format.
+    """
+    name: str                              # Display name (e.g., "Taipei 101")
+    address: str                           # Full address string
+    coordinate: Coordinate                 # Location
+    distance: Optional[float] = None       # Distance from search proximity (meters)
+    place_id: Optional[str] = None         # Provider-specific place ID
+    provider: str = ""                     # Provider name (e.g., "photon", "mapbox")
+    raw: dict = field(default_factory=dict)  # Raw provider response for debugging
+
+
+@dataclass
+class Step:
+    """
+    Single navigation step/maneuver in a route.
+
+    Represents one turn or road segment with its geometry.
+    """
+    distance: float                        # Step distance in meters
+    duration: float                        # Step duration in seconds
+    duration_typical: Optional[float] = None  # Typical duration (with traffic)
+    name: str = ""                         # Road/street name
+    maneuver_type: str = ""                # Type: turn, fork, off ramp, merge, etc.
+    maneuver_modifier: str = ""            # Direction: left, right, slight left, etc.
+    geometry: list[Coordinate] = field(default_factory=list)  # Path coordinates
+    speed_limit: Optional[float] = None    # Speed limit in m/s
+    speed_limit_sign: str = "vienna"       # Sign type: vienna or mutcd
+    maneuver_point: Optional[Coordinate] = None  # Explicit maneuver location from OSRM
+
+
+@dataclass
+class Route:
+    """
+    Complete navigation route.
+
+    Contains all steps from origin to destination with total distance/duration.
+    """
+    steps: list[Step]                      # List of navigation steps
+    distance: float                        # Total distance in meters
+    duration: float                        # Total duration in seconds
+    duration_typical: Optional[float] = None  # Typical duration (with traffic)
+    geometry: list[Coordinate] = field(default_factory=list)  # Full route polyline
+    provider: str = ""                     # Provider name
+    has_traffic: bool = False              # Whether duration includes traffic
+    raw: dict = field(default_factory=dict)  # Raw provider response
+
+
+@dataclass
+class TileConfig:
+    """
+    Map tile configuration for frontend display.
+    """
+    url_template: str                      # URL template with {z}/{x}/{y}
+    style_url: Optional[str] = None        # MapLibre style URL
+    attribution: str = ""                  # Map attribution text
+    min_zoom: int = 0
+    max_zoom: int = 22

dragonpilot/dashy/maa/providers/routing/__init__.py

@@ -0,0 +1,5 @@
+"""Routing providers."""
+
+from .osrm import OSRMRouteProvider
+
+__all__ = ['OSRMRouteProvider']

dragonpilot/dashy/maa/providers/routing/osrm.py

@@ -0,0 +1,190 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+OSRM Route Provider.
+
+Uses the free OSRM (Open Source Routing Machine) API for routing.
+No API key required.
+
+OSRM API Docs: http://project-osrm.org/docs/v5.24.0/api/
+"""
+
+from typing import Optional
+import aiohttp
+import requests
+
+from ..base import RouteProvider
+from ..models import Coordinate, Route, Step
+
+OSRM_URL = 'https://router.project-osrm.org'
+
+
+class OSRMRouteProvider(RouteProvider):
+    """
+    Free OSRM routing provider.
+
+    No API key required. Uses public OSRM demo server.
+    Does not support traffic data.
+    """
+
+    name = "osrm"
+    requires_api_key = False
+    supports_traffic = False
+
+    def __init__(self):
+        """Initialize OSRM provider."""
+        pass
+
+    async def get_route(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]] = None,
+        bearing: Optional[float] = None
+    ) -> Optional[Route]:
+        """Calculate route using OSRM API (async)."""
+        url, params = self._build_request(origin, destination, waypoints, bearing)
+
+        try:
+            async with aiohttp.ClientSession() as session:
+                async with session.get(url, params=params, timeout=aiohttp.ClientTimeout(total=10)) as resp:
+                    if resp.status != 200:
+                        return None
+                    data = await resp.json()
+        except Exception:
+            return None
+
+        return self._parse_response(data)
+
+    def get_route_sync(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]] = None,
+        bearing: Optional[float] = None
+    ) -> Optional[Route]:
+        """Calculate route using OSRM API (synchronous for maad.py)."""
+        url, params = self._build_request(origin, destination, waypoints, bearing)
+
+        try:
+            resp = requests.get(url, params=params, timeout=10)
+            if resp.status_code != 200:
+                return None
+            data = resp.json()
+            if data.get('code') != 'Ok':
+                return None
+        except Exception:
+            return None
+
+        return self._parse_response(data)
+
+    def _build_request(
+        self,
+        origin: Coordinate,
+        destination: Coordinate,
+        waypoints: Optional[list[Coordinate]],
+        bearing: Optional[float]
+    ) -> tuple[str, dict]:
+        """Build OSRM API request URL and params."""
+        # Convert to WGS-84 if needed (OSRM uses WGS-84)
+        origin = origin.to_wgs84() if hasattr(origin, 'to_wgs84') and origin.system.value != 'wgs84' else origin
+        destination = destination.to_wgs84() if hasattr(destination, 'to_wgs84') and destination.system.value != 'wgs84' else destination
+
+        # Build coordinate string: lon,lat;lon,lat;...
+        all_coords = [(origin.longitude, origin.latitude)]
+        if waypoints:
+            for wp in waypoints:
+                wp = wp.to_wgs84() if hasattr(wp, 'to_wgs84') and wp.system.value != 'wgs84' else wp
+                all_coords.append((wp.longitude, wp.latitude))
+        all_coords.append((destination.longitude, destination.latitude))
+
+        # Limit coordinate precision to 6 decimal places (about 0.1m accuracy)
+        coords_str = ';'.join([f'{lon:.6f},{lat:.6f}' for lon, lat in all_coords])
+        url = f"{OSRM_URL}/route/v1/driving/{coords_str}"
+
+        params = {
+            'overview': 'full',
+            'geometries': 'geojson',
+            'steps': 'true',
+        }
+
+        # Add bearing if provided (helps with route direction at start)
+        # OSRM bearings format: bearing,range for each coord, separated by ;
+        # Note: Disabled for now due to URL encoding issues with semicolons
+        # TODO: Re-enable once we properly handle the bearings parameter
+        # if bearing is not None:
+        #     bearing_parts = [f"{int(bearing) % 360},90"] + [''] * (len(all_coords) - 1)
+        #     url += f"?bearings={';'.join(bearing_parts)}"
+        #     return url, params
+
+        return url, params
+
+    def _parse_response(self, data: dict) -> Optional[Route]:
+        """Parse OSRM API response into Route object."""
+        if data.get('code') != 'Ok' or not data.get('routes'):
+            return None
+
+        route_data = data['routes'][0]
+        steps = []
+        full_geometry = []
+
+        for leg in route_data.get('legs', []):
+            for step in leg.get('steps', []):
+                maneuver = step.get('maneuver', {})
+
+                # Parse geometry coordinates
+                geometry = []
+                for coord in step.get('geometry', {}).get('coordinates', []):
+                    # OSRM uses [lon, lat] order
+                    c = Coordinate(coord[1], coord[0])
+                    geometry.append(c)
+                    full_geometry.append(c)
+
+                step_name = step.get('name', '')
+
+                # Extract explicit maneuver location from OSRM
+                maneuver_location = maneuver.get('location')  # [lon, lat]
+                maneuver_point = None
+                if maneuver_location and len(maneuver_location) == 2:
+                    maneuver_point = Coordinate(maneuver_location[1], maneuver_location[0])
+
+                steps.append(Step(
+                    distance=step.get('distance', 0),
+                    duration=step.get('duration', 0),
+                    name=step_name,
+                    maneuver_type=maneuver.get('type', ''),
+                    maneuver_modifier=maneuver.get('modifier', ''),
+                    geometry=geometry,
+                    speed_limit=None,
+                    speed_limit_sign='vienna',
+                    maneuver_point=maneuver_point,
+                ))
+
+        return Route(
+            steps=steps,
+            distance=route_data.get('distance', 0),
+            duration=route_data.get('duration', 0),
+            geometry=full_geometry,
+            provider=self.name,
+            has_traffic=False,
+            raw=route_data,
+        )

dragonpilot/dashy/maa/providers/search/__init__.py

@@ -0,0 +1,5 @@
+"""Search providers."""
+
+from .photon import PhotonSearchProvider
+
+__all__ = ['PhotonSearchProvider']

dragonpilot/dashy/maa/providers/search/photon.py

@@ -0,0 +1,198 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Photon Search Provider.
+
+Uses the free Photon (Komoot) geocoding API for address search.
+No API key required, no rate limits.
+
+Photon API: https://photon.komoot.io/
+"""
+
+from typing import Optional
+import aiohttp
+import requests
+
+from ..base import SearchProvider
+from ..models import Coordinate, SearchResult
+
+PHOTON_URL = 'https://photon.komoot.io/api'
+
+
+class PhotonSearchProvider(SearchProvider):
+    """
+    Free Photon geocoding provider.
+
+    No API key required. Fast, reliable, uses OpenStreetMap data.
+    """
+
+    name = "photon"
+    requires_api_key = False
+
+    def __init__(self):
+        """Initialize Photon provider."""
+        pass
+
+    async def search(
+        self,
+        query: str,
+        proximity: Optional[Coordinate] = None,
+        limit: int = 10
+    ) -> list[SearchResult]:
+        """Search for places using Photon API (async)."""
+        if not query or len(query) < 2:
+            return []
+
+        params = {'q': query, 'limit': min(limit + 5, 15)}  # Request extra for filtering
+
+        if proximity:
+            prox = proximity.to_wgs84() if hasattr(proximity, 'to_wgs84') else proximity
+            params['lat'] = prox.latitude
+            params['lon'] = prox.longitude
+
+        try:
+            async with aiohttp.ClientSession() as session:
+                async with session.get(PHOTON_URL, params=params, timeout=aiohttp.ClientTimeout(total=10)) as resp:
+                    if resp.status != 200:
+                        return []
+                    data = await resp.json()
+        except Exception:
+            return []
+
+        return self._parse_results(data, proximity, limit)
+
+    def search_sync(
+        self,
+        query: str,
+        proximity: Optional[Coordinate] = None,
+        limit: int = 10
+    ) -> list[SearchResult]:
+        """Search for places using Photon API (synchronous)."""
+        if not query or len(query) < 2:
+            return []
+
+        params = {'q': query, 'limit': min(limit + 5, 15)}
+
+        if proximity:
+            prox = proximity.to_wgs84() if hasattr(proximity, 'to_wgs84') else proximity
+            params['lat'] = prox.latitude
+            params['lon'] = prox.longitude
+
+        try:
+            resp = requests.get(PHOTON_URL, params=params, timeout=10)
+            if resp.status_code != 200:
+                return []
+            data = resp.json()
+        except Exception:
+            return []
+
+        return self._parse_results(data, proximity, limit)
+
+    async def reverse_geocode(
+        self,
+        coord: Coordinate
+    ) -> Optional[SearchResult]:
+        """Get address from coordinates using Photon reverse API."""
+        wgs_coord = coord.to_wgs84() if hasattr(coord, 'to_wgs84') else coord
+        url = f"{PHOTON_URL}/reverse"
+        params = {'lat': wgs_coord.latitude, 'lon': wgs_coord.longitude}
+
+        try:
+            async with aiohttp.ClientSession() as session:
+                async with session.get(url, params=params, timeout=aiohttp.ClientTimeout(total=10)) as resp:
+                    if resp.status != 200:
+                        return None
+                    data = await resp.json()
+        except Exception:
+            return None
+
+        features = data.get('features', [])
+        if not features:
+            return None
+
+        feature = features[0]
+        props = feature.get('properties', {})
+        parts = [props.get('name'), props.get('street'), props.get('city')]
+        address = ', '.join(filter(None, parts))
+
+        return SearchResult(
+            name=address.split(',')[0] if address else 'Unknown',
+            address=address or 'Unknown location',
+            coordinate=coord,
+            provider=self.name,
+            raw=feature,
+        )
+
+    def _parse_results(
+        self,
+        data: dict,
+        proximity: Optional[Coordinate],
+        limit: int
+    ) -> list[SearchResult]:
+        """Parse Photon GeoJSON response into SearchResult list."""
+        results = []
+
+        for feature in data.get('features', []):
+            try:
+                coords = feature['geometry']['coordinates']
+                props = feature.get('properties', {})
+
+                # Create coordinate (Photon uses [lon, lat] GeoJSON order)
+                coord = Coordinate(coords[1], coords[0])
+
+                # Build address from properties
+                parts = [
+                    props.get('name'),
+                    props.get('street'),
+                    props.get('city'),
+                    props.get('state'),
+                    props.get('country')
+                ]
+                address = ', '.join(filter(None, parts))
+
+                # Calculate distance if proximity provided
+                distance = None
+                if proximity:
+                    prox = proximity.to_wgs84() if hasattr(proximity, 'to_wgs84') else proximity
+                    search_coord = Coordinate(coords[1], coords[0])  # Use WGS84 for distance
+                    distance = search_coord.distance_to(prox)
+
+                # Determine display name
+                name = props.get('name') or props.get('street') or (address.split(',')[0] if address else 'Unknown')
+
+                results.append(SearchResult(
+                    name=name,
+                    address=address or 'Unknown location',
+                    coordinate=coord,
+                    distance=distance,
+                    place_id=props.get('osm_id'),
+                    provider=self.name,
+                    raw=feature,
+                ))
+            except (KeyError, IndexError):
+                continue
+
+        # Sort by distance if proximity provided
+        if proximity:
+            results.sort(key=lambda r: r.distance if r.distance is not None else float('inf'))
+
+        return results[:limit]

dragonpilot/dashy/maa/providers/tiles/__init__.py

@@ -0,0 +1,6 @@
+"""Tile providers."""
+
+# Import providers to register them with the factory
+from .openfreemap import OpenFreeMapTileProvider
+
+__all__ = ['OpenFreeMapTileProvider']

dragonpilot/dashy/maa/providers/tiles/openfreemap.py

@@ -0,0 +1,88 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+OpenFreeMap Tile Provider.
+
+Uses free OpenFreeMap tiles. No API key required.
+
+OpenFreeMap: https://openfreemap.org/
+"""
+
+from ..base import TileProvider
+from ..models import TileConfig
+from ..factory import ProviderFactory
+from ..config import TileProviderType
+
+
+@ProviderFactory.register_tile(TileProviderType.OPENFREEMAP)
+class OpenFreeMapTileProvider(TileProvider):
+    """
+    Free OpenFreeMap tile provider.
+
+    No API key required. Uses OpenStreetMap data with nice styling.
+    """
+
+    name = "openfreemap"
+    requires_api_key = False
+
+    def __init__(self, api_key: str = None):
+        """Initialize OpenFreeMap provider."""
+        pass  # No API key needed
+
+    def get_tile_config(self) -> TileConfig:
+        """Get tile configuration."""
+        return TileConfig(
+            url_template="https://tiles.openfreemap.org/planet/{z}/{x}/{y}.pbf",
+            style_url="https://tiles.openfreemap.org/styles/liberty",
+            attribution='<a href="https://openfreemap.org">OpenFreeMap</a> | <a href="https://www.openstreetmap.org/copyright">OpenStreetMap</a>',
+            min_zoom=0,
+            max_zoom=20,
+        )
+
+    def get_style_json(self) -> dict:
+        """
+        Get MapLibre GL style JSON.
+
+        This style is optimized for navigation display with good contrast
+        and road visibility.
+        """
+        return {
+            "version": 8,
+            "name": "OpenFreeMap Liberty",
+            "sources": {
+                "openmaptiles": {
+                    "type": "vector",
+                    "url": "https://tiles.openfreemap.org/planet"
+                }
+            },
+            "glyphs": "https://tiles.openfreemap.org/fonts/{fontstack}/{range}.pbf",
+            "sprite": "https://tiles.openfreemap.org/styles/liberty/sprite",
+            "layers": [
+                # Simplified layer config - the actual style is loaded from style_url
+                # This is a fallback/reference
+                {
+                    "id": "background",
+                    "type": "background",
+                    "paint": {"background-color": "#f8f4f0"}
+                }
+            ]
+        }

dragonpilot/dashy/maa/providers/utils/__init__.py

@@ -0,0 +1,5 @@
+"""Utility functions for map providers."""
+
+from .coordinates import wgs84_to_gcj02, gcj02_to_wgs84
+
+__all__ = ['wgs84_to_gcj02', 'gcj02_to_wgs84']

dragonpilot/dashy/maa/providers/utils/coordinates.py

@@ -0,0 +1,114 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+WGS-84 <-> GCJ-02 coordinate transformations.
+
+GCJ-02 (Chinese: 火星坐标系 "Mars Coordinates") is the coordinate system
+mandated for maps in China. All maps in China must use GCJ-02, including
+AMap (Gaode/高德) and Baidu Maps.
+
+GPS devices output WGS-84 coordinates, which must be converted to GCJ-02
+for use with Chinese map services, and vice versa.
+"""
+
+import math
+
+# Krasovsky 1940 ellipsoid parameters
+_A = 6378245.0  # Semi-major axis
+_EE = 0.00669342162296594323  # Eccentricity squared
+
+
+def _out_of_china(lat: float, lon: float) -> bool:
+    """Check if coordinates are outside China's approximate bounds."""
+    return not (72.004 <= lon <= 137.8347 and 0.8293 <= lat <= 55.8271)
+
+
+def _transform_lat(x: float, y: float) -> float:
+    """Transform latitude offset."""
+    ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * math.sqrt(abs(x))
+    ret += (20.0 * math.sin(6.0 * x * math.pi) + 20.0 * math.sin(2.0 * x * math.pi)) * 2.0 / 3.0
+    ret += (20.0 * math.sin(y * math.pi) + 40.0 * math.sin(y / 3.0 * math.pi)) * 2.0 / 3.0
+    ret += (160.0 * math.sin(y / 12.0 * math.pi) + 320 * math.sin(y * math.pi / 30.0)) * 2.0 / 3.0
+    return ret
+
+
+def _transform_lon(x: float, y: float) -> float:
+    """Transform longitude offset."""
+    ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * math.sqrt(abs(x))
+    ret += (20.0 * math.sin(6.0 * x * math.pi) + 20.0 * math.sin(2.0 * x * math.pi)) * 2.0 / 3.0
+    ret += (20.0 * math.sin(x * math.pi) + 40.0 * math.sin(x / 3.0 * math.pi)) * 2.0 / 3.0
+    ret += (150.0 * math.sin(x / 12.0 * math.pi) + 300.0 * math.sin(x / 30.0 * math.pi)) * 2.0 / 3.0
+    return ret
+
+
+def wgs84_to_gcj02(lat: float, lon: float) -> tuple[float, float]:
+    """
+    Convert WGS-84 coordinates to GCJ-02.
+
+    Args:
+        lat: WGS-84 latitude
+        lon: WGS-84 longitude
+
+    Returns:
+        Tuple of (GCJ-02 latitude, GCJ-02 longitude)
+    """
+    if _out_of_china(lat, lon):
+        return lat, lon
+
+    dlat = _transform_lat(lon - 105.0, lat - 35.0)
+    dlon = _transform_lon(lon - 105.0, lat - 35.0)
+
+    radlat = lat / 180.0 * math.pi
+    magic = math.sin(radlat)
+    magic = 1 - _EE * magic * magic
+    sqrtmagic = math.sqrt(magic)
+
+    dlat = (dlat * 180.0) / ((_A * (1 - _EE)) / (magic * sqrtmagic) * math.pi)
+    dlon = (dlon * 180.0) / (_A / sqrtmagic * math.cos(radlat) * math.pi)
+
+    return lat + dlat, lon + dlon
+
+
+def gcj02_to_wgs84(lat: float, lon: float) -> tuple[float, float]:
+    """
+    Convert GCJ-02 coordinates to WGS-84 (approximate inverse).
+
+    Uses iterative approach for better accuracy (~0.5m error).
+
+    Args:
+        lat: GCJ-02 latitude
+        lon: GCJ-02 longitude
+
+    Returns:
+        Tuple of (WGS-84 latitude, WGS-84 longitude)
+    """
+    if _out_of_china(lat, lon):
+        return lat, lon
+
+    # Iterative approach for better accuracy
+    wgs_lat, wgs_lon = lat, lon
+    for _ in range(5):
+        gcj_lat, gcj_lon = wgs84_to_gcj02(wgs_lat, wgs_lon)
+        wgs_lat += lat - gcj_lat
+        wgs_lon += lon - gcj_lon
+
+    return wgs_lat, wgs_lon

dragonpilot/dashy/maa/route_tracker.py

@@ -0,0 +1,447 @@
+"""
+Copyright (c) 2026, Rick Lan
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, and/or sublicense,
+for non-commercial purposes only, subject to the following conditions:
+
+- The above copyright notice and this permission notice shall be included in
+  all copies or substantial portions of the Software.
+- Commercial use (e.g. use in a product, service, or activity intended to
+  generate revenue) is prohibited without explicit written permission from
+  the copyright holder.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Route Tracker - OsmAnd-inspired route tracking logic
+
+Handles:
+- Step transition detection (finding closest segment among lookahead)
+- Reroute detection with time-based debounce
+- GPS accuracy-aware tolerances
+
+References:
+- OsmAnd RoutingHelper.java: lookAheadFindMinOrthogonalDistance (line 562)
+- OsmAnd RoutingHelperUtils.java: bearing thresholds (lines 175, 200)
+- OsmAnd AnnounceTimeDistances.java: positioning tolerance (line 25)
+"""
+import time
+from typing import Optional, TYPE_CHECKING
+
+from openpilot.common.swaglog import cloudlog
+
+from dragonpilot.dashy.maa.helpers import (
+  Coordinate,
+  minimum_distance,
+  normalize_angle,
+  project_onto_segment,
+)
+
+if TYPE_CHECKING:
+  from dragonpilot.dashy.maa.maad import Step
+
+
+# Reroute parameters (OsmAnd-inspired)
+REROUTE_DISTANCE_BASE = 25  # meters off route before considering reroute
+REROUTE_DEBOUNCE_TIME = 3.0  # seconds of sustained deviation before reroute
+POSITIONING_TOLERANCE = 12  # meters GPS error buffer
+
+# Bearing thresholds (OsmAnd: RoutingHelperUtils.java)
+WRONG_DIRECTION_THRESHOLD = 90.0  # degrees - wrong movement direction
+UTURN_THRESHOLD = 135.0  # degrees - U-turn needed
+
+# Speed-based lookahead (OsmAnd: RoutingHelper.java:562)
+LOOKAHEAD_SLOW = 8  # segments for slow speed
+LOOKAHEAD_FAST = 15  # segments for fast speed (highway)
+FAST_SPEED_THRESHOLD = 20.0  # m/s (~72 km/h) to switch to fast lookahead
+
+# Step transition - snap zone around maneuver point
+MANEUVER_SNAP_ZONE = 100.0  # meters before/after maneuver to check
+
+# Maneuver point detection (bearing-based)
+MANEUVER_PROXIMITY_THRESHOLD = 50.0  # meters - must be this close to check bearing
+MANEUVER_BEHIND_ANGLE = 90.0  # degrees - point is "behind" if angle > this
+
+
+class RouteTracker:
+  """Tracks position along a route with snap-to-road logic."""
+
+  def __init__(self):
+    self.step_idx: Optional[int] = None
+    self.segment_idx: int = 0  # Current segment within step
+    self.deviation_start_time: Optional[float] = None
+
+  def reset(self):
+    """Reset tracking state."""
+    self.step_idx = None
+    self.segment_idx = 0
+    self.deviation_start_time = None
+
+  def set_step(self, idx: int):
+    """Set current step index."""
+    self.step_idx = idx
+    self.segment_idx = 0
+    self.deviation_start_time = None
+
+  def get_lookahead(self, speed: float) -> int:
+    """Get lookahead distance based on speed (OsmAnd: RoutingHelper.java:562)."""
+    return LOOKAHEAD_FAST if speed > FAST_SPEED_THRESHOLD else LOOKAHEAD_SLOW
+
+  def snap_to_route(
+    self,
+    route: list['Step'],
+    position: Coordinate,
+    bearing: Optional[float] = None,
+    speed: float = 0.0,
+  ) -> tuple[int, int, float, float, float]:
+    """Snap position to route geometry.
+
+    Returns:
+      (step_idx, segment_idx, t, distance_to_route, distance_along_step) where:
+      - step_idx: which step we're on
+      - segment_idx: which segment within the step
+      - t: position along segment (0-1)
+      - distance_to_route: perpendicular distance to route
+      - distance_along_step: how far along the current step (meters)
+    """
+    if not route or self.step_idx is None:
+      return self.step_idx or 0, 0, 0.0, float('inf'), 0.0
+
+    lookahead = self.get_lookahead(speed)
+    best_dist = float('inf')
+    best_step = self.step_idx
+    best_seg = 0
+    best_t = 0.0
+
+    # Search current step and lookahead steps
+    end_idx = min(self.step_idx + lookahead, len(route))
+    for step_idx in range(self.step_idx, end_idx):
+      step = route[step_idx]
+
+      for seg_idx in range(len(step.geometry) - 1):
+        a = step.geometry[seg_idx]
+        b = step.geometry[seg_idx + 1]
+        seg_len = a.distance_to(b)
+        if seg_len < 1.0:
+          continue
+
+        _, t, dist = project_onto_segment(a, b, position)
+
+        # If we have bearing, validate direction for non-current steps
+        if bearing is not None and step_idx > self.step_idx:
+          route_bearing = a.bearing_to(b)
+          bearing_diff = abs(normalize_angle(bearing - route_bearing))
+          if bearing_diff > WRONG_DIRECTION_THRESHOLD:
+            continue  # Skip segments going wrong direction
+
+        if dist < best_dist:
+          best_dist = dist
+          best_step = step_idx
+          best_seg = seg_idx
+          best_t = t
+
+    # Calculate distance along the best step
+    dist_along = 0.0
+    if best_step < len(route):
+      step = route[best_step]
+      for i in range(best_seg):
+        if i < len(step.geometry) - 1:
+          dist_along += step.geometry[i].distance_to(step.geometry[i + 1])
+      # Add partial distance in current segment
+      if best_seg < len(step.geometry) - 1:
+        seg_len = step.geometry[best_seg].distance_to(step.geometry[best_seg + 1])
+        dist_along += seg_len * best_t
+
+    return best_step, best_seg, best_t, best_dist, dist_along
+
+  def find_closest_step(
+    self,
+    route: list['Step'],
+    position: Coordinate,
+    bearing: Optional[float],
+    speed: float = 0.0,
+  ) -> int:
+    """Find closest step among current and lookahead steps (OsmAnd-style).
+
+    Uses orthogonal distance to segments with bearing validation.
+    Returns the step index with minimum distance that matches travel direction.
+    """
+    if not route or position is None or self.step_idx is None:
+      return self.step_idx or 0
+
+    lookahead = self.get_lookahead(speed)
+
+    if bearing is None:
+      return self._find_closest_by_distance(route, position, lookahead)
+
+    min_dist = float('inf')
+    closest_idx = self.step_idx
+
+    end_idx = min(self.step_idx + lookahead, len(route))
+    for step_idx in range(self.step_idx, end_idx):
+      step = route[step_idx]
+
+      for i in range(len(step.geometry) - 1):
+        a = step.geometry[i]
+        b = step.geometry[i + 1]
+        seg_len = a.distance_to(b)
+        if seg_len < 1.0:
+          continue
+
+        d = minimum_distance(a, b, position)
+        if d < min_dist:
+          # Check bearing match before accepting
+          route_bearing = a.bearing_to(b)
+          bearing_diff = abs(normalize_angle(bearing - route_bearing))
+
+          # Only accept if bearing within 90 degrees (not going backwards)
+          if bearing_diff < WRONG_DIRECTION_THRESHOLD or step_idx == self.step_idx:
+            min_dist = d
+            closest_idx = step_idx
+
+    return closest_idx
+
+  def _find_closest_by_distance(
+    self,
+    route: list['Step'],
+    position: Coordinate,
+    lookahead: int,
+  ) -> int:
+    """Fallback: find closest step by distance only (no bearing check)."""
+    min_dist = float('inf')
+    closest_idx = self.step_idx
+
+    end_idx = min(self.step_idx + lookahead, len(route))
+    for step_idx in range(self.step_idx, end_idx):
+      step = route[step_idx]
+      for i in range(len(step.geometry) - 1):
+        a = step.geometry[i]
+        b = step.geometry[i + 1]
+        if a.distance_to(b) < 1.0:
+          continue
+        d = minimum_distance(a, b, position)
+        if d < min_dist:
+          min_dist = d
+          closest_idx = step_idx
+
+    return closest_idx
+
+  def should_reroute(
+    self,
+    route: list['Step'],
+    position: Coordinate,
+    gps_accuracy: float = 0.0,
+  ) -> bool:
+    """Check if route should be recomputed (OsmAnd-style time-based debounce).
+
+    Returns True if vehicle has been off-route for REROUTE_DEBOUNCE_TIME seconds.
+    Uses GPS accuracy-aware tolerance for distance threshold.
+    """
+    if self.step_idx is None or not route:
+      return True
+
+    # Don't reroute in last segment
+    if self.step_idx == len(route) - 1:
+      return False
+
+    # GPS accuracy-aware tolerance (OsmAnd: AnnounceTimeDistances.java:25)
+    tolerance = POSITIONING_TOLERANCE / 2 + gps_accuracy
+    reroute_threshold = max(REROUTE_DISTANCE_BASE, tolerance)
+
+    # Find minimum distance to current step geometry
+    min_d = reroute_threshold + 1
+    step = route[self.step_idx]
+
+    for i in range(len(step.geometry) - 1):
+      a = step.geometry[i]
+      b = step.geometry[i + 1]
+      if a.distance_to(b) < 1.0:
+        continue
+      min_d = min(min_d, minimum_distance(a, b, position))
+
+    now = time.monotonic()
+
+    # Time-based debounce (OsmAnd: 10 seconds of sustained deviation)
+    if min_d > reroute_threshold:
+      if self.deviation_start_time is None:
+        self.deviation_start_time = now
+        cloudlog.info(f"maad: deviation detected, dist={min_d:.0f}m > threshold={reroute_threshold:.0f}m")
+      elif now - self.deviation_start_time > REROUTE_DEBOUNCE_TIME:
+        cloudlog.warning(f"maad: rerouting after {REROUTE_DEBOUNCE_TIME}s deviation")
+        return True
+    else:
+      # Back on route - reset timer
+      if self.deviation_start_time is not None:
+        cloudlog.info("maad: back on route, resetting deviation timer")
+      self.deviation_start_time = None
+
+    return False
+
+  def _get_geometry_tail(self, geometry: list[Coordinate], max_dist: float) -> list[Coordinate]:
+    """Get the last max_dist meters of geometry (before maneuver point)."""
+    if len(geometry) < 2:
+      return geometry
+
+    # Walk backwards from end
+    result = [geometry[-1]]
+    dist = 0.0
+    for i in range(len(geometry) - 2, -1, -1):
+      seg_dist = geometry[i].distance_to(geometry[i + 1])
+      if dist + seg_dist > max_dist:
+        break
+      result.insert(0, geometry[i])
+      dist += seg_dist
+
+    return result
+
+  def _get_geometry_head(self, geometry: list[Coordinate], max_dist: float) -> list[Coordinate]:
+    """Get the first max_dist meters of geometry (after maneuver point)."""
+    if len(geometry) < 2:
+      return geometry
+
+    # Walk forwards from start
+    result = [geometry[0]]
+    dist = 0.0
+    for i in range(1, len(geometry)):
+      seg_dist = geometry[i - 1].distance_to(geometry[i])
+      if dist + seg_dist > max_dist:
+        break
+      result.append(geometry[i])
+      dist += seg_dist
+
+    return result
+
+  def _snap_to_geometry(self, geometry: list[Coordinate], position: Coordinate) -> float:
+    """Find minimum distance from position to geometry segments."""
+    min_dist = float('inf')
+    for i in range(len(geometry) - 1):
+      a, b = geometry[i], geometry[i + 1]
+      if a.distance_to(b) < 1.0:
+        continue
+      _, _, dist = project_onto_segment(a, b, position)
+      min_dist = min(min_dist, dist)
+    return min_dist
+
+  def _check_passed_maneuver_point(
+    self,
+    maneuver_pt: Coordinate,
+    position: Coordinate,
+    bearing: Optional[float],
+  ) -> bool:
+    """Check if vehicle has passed the maneuver point using bearing.
+
+    A vehicle has "passed" a point when that point is behind it (>90° off heading).
+
+    Before fork:     Vehicle → → → [Fork Point]
+                     bearing_to_fork ≈ 0° (ahead)
+
+    After fork:      [Fork Point]     Vehicle → → →
+                     bearing_to_fork ≈ 180° (behind)
+    """
+    dist = position.distance_to(maneuver_pt)
+
+    if bearing is not None:
+      # Calculate bearing FROM vehicle TO maneuver point
+      bearing_to_pt = position.bearing_to(maneuver_pt)
+      angle_diff = abs(normalize_angle(bearing - bearing_to_pt))
+
+      # Debug logging
+      if dist < 500:
+        cloudlog.info(f"maad: maneuver check step={self.step_idx} dist={dist:.1f}m "
+                      f"bearing={bearing:.1f} to_pt={bearing_to_pt:.1f} angle_diff={angle_diff:.1f}")
+
+      # If maneuver point is behind us (>90° off heading), we've passed it
+      # This works regardless of distance - if it's behind us, we passed it
+      if angle_diff > MANEUVER_BEHIND_ANGLE:
+        cloudlog.info(f"maad: passed maneuver point, advancing step {self.step_idx} -> {self.step_idx + 1} "
+                      f"(dist={dist:.1f}m, angle_diff={angle_diff:.1f}°)")
+        self.step_idx += 1
+        self.segment_idx = 0
+        self.deviation_start_time = None
+        return True
+    else:
+      # No bearing - use distance only (very close = passed)
+      if dist < 15.0:
+        cloudlog.info(f"maad: passed maneuver point (no bearing), advancing step {self.step_idx} -> {self.step_idx + 1} "
+                      f"(dist={dist:.1f}m)")
+        self.step_idx += 1
+        self.segment_idx = 0
+        self.deviation_start_time = None
+        return True
+
+    return False
+
+  def update_step(
+    self,
+    route: list['Step'],
+    position: Coordinate,
+    bearing: Optional[float],
+    speed: float = 0.0,
+  ) -> bool:
+    """Update current step by detecting when maneuver point is passed.
+
+    Uses explicit maneuver point with bearing-based detection if available,
+    otherwise falls back to geometry comparison.
+    """
+    if not route or self.step_idx is None:
+      return False
+
+    # Need a next step to transition to
+    if self.step_idx + 1 >= len(route):
+      return False
+
+    current_step = route[self.step_idx]
+    next_step = route[self.step_idx + 1]
+
+    # TODO: Re-enable maneuver point detection after fixing display issues
+    # # Use explicit maneuver point if available (preferred - works at forks)
+    # # Note: OSRM's maneuver.location is at the START of each step, so we check
+    # # the NEXT step's maneuver_point (where the turn/fork happens)
+    # if next_step.maneuver_point is not None:
+    #   return self._check_passed_maneuver_point(next_step.maneuver_point, position, bearing)
+    # else:
+    #   cloudlog.warning(f"maad: step {self.step_idx + 1} has no maneuver_point, using geometry fallback")
+
+    # Geometry-based comparison (standard OSRM/OsmAnd approach)
+    if not current_step.geometry or not next_step.geometry:
+      return False
+
+    # Get geometry around the maneuver point
+    # Before: last 100m of current step
+    before_geom = self._get_geometry_tail(current_step.geometry, MANEUVER_SNAP_ZONE)
+    # After: first 100m of next step
+    after_geom = self._get_geometry_head(next_step.geometry, MANEUVER_SNAP_ZONE)
+
+    # Snap to both geometries
+    dist_before = self._snap_to_geometry(before_geom, position)
+    dist_after = self._snap_to_geometry(after_geom, position)
+
+    # Debug logging
+    cloudlog.debug(f"maad: step transition check step={self.step_idx} "
+                   f"dist_before={dist_before:.1f}m dist_after={dist_after:.1f}m")
+
+    # If closer to "after" geometry, we've passed the maneuver
+    if dist_after < dist_before:
+      # Additional bearing check if available
+      if bearing is not None and len(after_geom) >= 2:
+        route_bearing = after_geom[0].bearing_to(after_geom[1])
+        bearing_diff = abs(normalize_angle(bearing - route_bearing))
+        if bearing_diff > WRONG_DIRECTION_THRESHOLD:
+          # Going wrong direction on next step - don't transition
+          return False
+
+      cloudlog.info(f"maad: maneuver passed {self.step_idx} -> {self.step_idx + 1} "
+                    f"(dist_before={dist_before:.1f}m, dist_after={dist_after:.1f}m)")
+      self.step_idx += 1
+      self.segment_idx = 0
+      self.deviation_start_time = None
+      return True
+
+    return False

dragonpilot/dashy/serverd.py

@@ -26,15 +26,15 @@ Dashy HTTP Server
 
 Provides REST API and static file serving for the dashy web UI.
 - Settings management (read/write params)
+- Navigation API (destination, search, places, tiles)
 - File browser for drive logs
+- WebRTC stream proxy
 - Static file serving for web UI
 """
 
 import argparse
-import ast
 import asyncio
 import json
-import operator
 import os
 import logging
 import time
@@ -42,7 +42,7 @@ from datetime import datetime
 from functools import wraps
 from urllib.parse import quote
 
-from aiohttp import web
+from aiohttp import web, ClientSession, ClientTimeout, ClientConnectorError
 
 from cereal import messaging
 
@@ -50,15 +50,13 @@ from openpilot.common.params import Params
 from openpilot.system.hardware import PC, HARDWARE
 from openpilot.system.ui.lib.multilang import multilang as base_multilang
 from dragonpilot.settings import SETTINGS
-
+from dragonpilot.dashy.maa.providers import MapService
-try:
+from dragonpilot.dashy.maa.providers.models import Coordinate
-    from openpilot.system.version import get_build_metadata as _get_build_metadata
-except Exception:
-    _get_build_metadata = None
 
 # --- Configuration ---
 DEFAULT_DIR = os.path.realpath(os.path.join(os.path.dirname(__file__), '..') if PC else '/data/media/0/realdata')
 WEB_DIST_PATH = os.path.join(os.path.dirname(__file__), "web", "dist")
+WEBRTC_TIMEOUT = ClientTimeout(total=10)
 CAR_PARAMS_CACHE_TTL = 30  # seconds
 
 logger = logging.getLogger("dashy")
@@ -130,10 +128,7 @@ class AppCache:
                 'brand': car_params['brand'],
                 'openpilotLongitudinalControl': car_params['openpilot_longitudinal_control'],
                 'LITE': os.getenv("LITE") is not None,
-                'MICI': self._check_mici(),
+                'MICI': self._check_mici()
-                # Upstream-mirror items gate on these.
-                'DASHY': True,
-                'IS_RELEASE': self._is_release_channel(),
             }
             self._context_time = now
         return self._context
@@ -145,14 +140,6 @@ class AppCache:
         except Exception:
             return False
 
-    def _is_release_channel(self):
-        if _get_build_metadata is None:
-            return False
-        try:
-            return bool(_get_build_metadata().release_channel)
-        except Exception:
-            return False
-
     def get_bool_safe(self, key, default=False):
         """Safely get a boolean param with default."""
         try:
@@ -191,54 +178,12 @@ def get_safe_path(requested_path):
     return None
 
 
-_CMP_OPS = {
-    ast.Eq: operator.eq,
-    ast.NotEq: operator.ne,
-    ast.Lt: operator.lt,
-    ast.LtE: operator.le,
-    ast.Gt: operator.gt,
-    ast.GtE: operator.ge,
-}
-
-
-def _eval_node(node, context):
-    """Evaluate a tightly restricted AST node against a context dict.
-
-    Only the operators that SETTINGS conditions actually use are supported:
-    Name lookup, literal Constants, and / or / not, and the six numeric
-    comparisons. No function calls, attribute access, subscripts, or
-    arithmetic — those would re-open the eval-sandbox escape paths.
-    """
-    if isinstance(node, ast.Expression):
-        return _eval_node(node.body, context)
-    if isinstance(node, ast.Constant):
-        return node.value
-    if isinstance(node, ast.Name):
-        return context.get(node.id, False)
-    if isinstance(node, ast.UnaryOp) and isinstance(node.op, ast.Not):
-        return not _eval_node(node.operand, context)
-    if isinstance(node, ast.BoolOp):
-        values = [_eval_node(v, context) for v in node.values]
-        if isinstance(node.op, ast.And):
-            return all(values)
-        if isinstance(node.op, ast.Or):
-            return any(values)
-    if isinstance(node, ast.Compare) and len(node.ops) == 1 and len(node.comparators) == 1:
-        op_type = type(node.ops[0])
-        if op_type in _CMP_OPS:
-            left = _eval_node(node.left, context)
-            right = _eval_node(node.comparators[0], context)
-            return _CMP_OPS[op_type](left, right)
-    raise ValueError(f"Unsupported node: {type(node).__name__}")
-
-
 def eval_condition(condition, context):
-    """Evaluate a SETTINGS condition expression in a sandboxed AST walker."""
+    """Safely evaluate a condition string."""
     if not condition:
         return True
     try:
-        tree = ast.parse(condition, mode='eval')
+        return eval(condition, {"__builtins__": {}}, context)
-        return bool(_eval_node(tree, context))
     except Exception as e:
         logger.debug(f"Condition evaluation failed: {condition}, error: {e}")
         return False
@@ -249,41 +194,6 @@ def resolve_value(value):
     return value() if callable(value) else value
 
 
-# Map of settings-declared param keys to their setting dict.
-# Used as an allowlist for /api/settings/params/{name} read/write so
-# LAN clients can only touch keys that the UI knowingly exposes.
-def _build_param_setting_map():
-    out = {}
-    for section in SETTINGS:
-        for setting in section.get('settings', []):
-            key = setting.get('key')
-            if not key:
-                continue
-            # action_item entries use `key` as the action name, not a real
-            # param — skip so they don't leak into the param read/write
-            # allowlist.
-            if setting.get('type') == 'action_item':
-                continue
-            out[key] = setting
-    return out
-
-
-_PARAM_SETTINGS = _build_param_setting_map()
-
-# Control-tab / one-off params the UI legitimately reads or writes that
-# are not part of the SETTINGS schema. Kept as an explicit allowlist so
-# the broader 'unknown param' guard still blocks arbitrary writes.
-_CONTROL_PARAMS = {
-    'dp_dev_go_off_road',   # Controls tab: force-offroad toggle
-    'DoReboot',             # Controls tab: reboot button
-    'ExperimentalMode',     # Tesla HUD: tap set-speed circle to toggle
-}
-
-
-def _param_allowed(key):
-    return key in _PARAM_SETTINGS or key in _CONTROL_PARAMS
-
-
 # --- API Endpoints ---
 @api_handler
 async def init_api(request):
@@ -291,7 +201,6 @@ async def init_api(request):
     cache: AppCache = request.app['cache']
     return web.json_response({
         'dp_dev_dashy': cache.get_bool_safe("dp_dev_dashy", True),
-        'isOffroad': cache.get_bool_safe("IsOffroad", False),
     })
 
 
@@ -307,12 +216,6 @@ async def list_files_api(request):
     items = []
     for entry in os.listdir(safe_path):
         full_path = os.path.join(safe_path, entry)
-        # Skip entries whose real target escapes DEFAULT_DIR (e.g., symlinks).
-        # get_safe_path only validates the requested directory itself; each
-        # child has to be re-checked to prevent listing files outside the tree.
-        real_full = os.path.realpath(full_path)
-        if os.path.commonpath((real_full, DEFAULT_DIR)) != DEFAULT_DIR:
-            continue
         try:
             stat = os.stat(full_path)
             is_dir = os.path.isdir(full_path)
@@ -342,8 +245,6 @@ async def serve_player_api(request):
     file_path = request.query.get('file')
     if not file_path:
         return web.Response(text="File parameter is required.", status=400)
-    if get_safe_path(file_path) is None:
-        return web.Response(text="Invalid file path.", status=400)
 
     player_html_path = os.path.join(WEB_DIST_PATH, 'pages', 'player.html')
     try:
@@ -352,7 +253,7 @@ async def serve_player_api(request):
     except FileNotFoundError:
         return web.Response(text="Player HTML not found.", status=500)
 
-    html = html_template.replace('{{FILE_PATH}}', quote(file_path, safe=''))
+    html = html_template.replace('{{FILE_PATH}}', quote(file_path))
     return web.Response(text=html, content_type='text/html')
 
 
@@ -362,8 +263,6 @@ async def serve_manifest_api(request):
     file_path = request.query.get('file', '').lstrip('/')
     if not file_path:
         return web.Response(text="File parameter is required.", status=400)
-    if get_safe_path(file_path) is None:
-        return web.Response(text="Invalid file path.", status=400)
 
     encoded_path = quote(file_path)
     manifest = f"#EXTM3U\n#EXT-X-VERSION:3\n#EXT-X-TARGETDURATION:60\n#EXT-X-PLAYLIST-TYPE:VOD\n#EXTINF:60.0,\n/media/{encoded_path}\n#EXT-X-ENDLIST\n"
@@ -441,15 +340,6 @@ def _get_setting_value(params, setting):
         elif setting_type == 'double_spin_button_item':
             value = params.get(key)
             return float(value) if value is not None else float(default)
-        elif setting_type in ('text_input_item', 'text_display_item'):
-            value = params.get(key)
-            if value is None:
-                return ''
-            return value.decode('utf-8', errors='replace') if isinstance(value, bytes) else str(value)
-        elif setting_type == 'action_item':
-            # Pure action buttons have no stored value; return None so the
-            # UI treats it as display-only.
-            return None
         else:  # spin_button_item, text_spin_button_item
             value = params.get(key)
             return int(value) if value is not None else int(default)
@@ -459,10 +349,6 @@ def _get_setting_value(params, setting):
             return False
         elif setting_type == 'double_spin_button_item':
             return float(default)
-        elif setting_type in ('text_input_item', 'text_display_item'):
-            return ''
-        elif setting_type == 'action_item':
-            return None
         return int(default)
 
 
@@ -476,12 +362,6 @@ async def save_param_api(request):
     param_name = request.match_info.get('param_name')
     if not param_name:
         return web.json_response({'error': 'param_name is required'}, status=400)
-    if not _param_allowed(param_name):
-        return web.json_response({'error': 'Unknown param'}, status=403)
-
-    setting = _PARAM_SETTINGS.get(param_name)
-    if setting is not None and setting.get('type') == 'text_display_item':
-        return web.json_response({'error': 'Read-only param'}, status=403)
 
     cache: AppCache = request.app['cache']
     params = cache.params
@@ -520,17 +400,22 @@ def _save_param(params, key, value):
 
 
 def _get_param_value(params, key):
-    """Get a single param value via its declared setting type, or as a
+    """Get a single param value with proper type handling."""
-    bool for control-only params that have no SETTINGS entry."""
+    try:
-    setting = _PARAM_SETTINGS.get(key)
+        # Try get_bool first for boolean params
-    if setting is not None:
+        return params.get_bool(key)
-        return _get_setting_value(params, setting)
+    except Exception:
-    if key in _CONTROL_PARAMS:
+        pass
-        try:
+
-            return params.get_bool(key)
+    try:
-        except Exception:
+        raw_value = params.get(key)
-            return False
+        if raw_value is None:
-    return None
+            return None
+        elif isinstance(raw_value, bytes):
+            return raw_value.decode('utf-8')
+        return raw_value
+    except Exception:
+        return None
 
 
 @api_handler
@@ -539,8 +424,6 @@ async def get_param_api(request):
     param_name = request.match_info.get('param_name')
     if not param_name:
         return web.json_response({'error': 'param_name is required'}, status=400)
-    if not _param_allowed(param_name):
-        return web.json_response({'error': 'Unknown param'}, status=403)
 
     cache: AppCache = request.app['cache']
     try:
@@ -551,118 +434,18 @@ async def get_param_api(request):
     return web.json_response({'key': param_name, 'value': value})
 
 
-# --- Action endpoints ---
-# Named side-effectful operations declared by settings items via the
-# `action` field (text_input_item / action_item). Each handler receives
-# the parsed JSON body and the AppCache; it returns a dict that is
-# serialized as the JSON response. Errors should be raised — the wrapper
-# converts them to 502/500 responses.
-SSH_KEY_FETCH_TIMEOUT_S = 10
-SSH_KEY_MAX_BYTES = 16 * 1024  # plenty for any realistic ~/.ssh/authorized_keys
-GITHUB_USERNAME_MAX_LEN = 39   # github's own limit
-
-
-def _validate_github_username(username):
-    """GitHub username: 1-39 chars, alnum or single hyphen, no leading/trailing hyphen."""
-    if not username or len(username) > GITHUB_USERNAME_MAX_LEN:
-        return False
-    if username.startswith('-') or username.endswith('-'):
-        return False
-    if '--' in username:
-        return False
-    return all(c.isalnum() or c == '-' for c in username)
-
-
-async def _fetch_github_ssh_keys(username):
-    """Fetch https://github.com/{username}.keys. Returns the body text on
-    HTTP 200; raises web.HTTPException with an upstream-derived status on
-    failure so the action endpoint surfaces the real reason."""
-    import aiohttp
-    url = f"https://github.com/{quote(username, safe='')}.keys"
-    timeout = aiohttp.ClientTimeout(total=SSH_KEY_FETCH_TIMEOUT_S)
-    async with aiohttp.ClientSession(timeout=timeout) as session:
-        async with session.get(url) as resp:
-            if resp.status == 404:
-                raise web.HTTPNotFound(reason=f"GitHub user '{username}' not found")
-            if resp.status != 200:
-                raise web.HTTPBadGateway(reason=f"github.com returned HTTP {resp.status}")
-            body = await resp.content.read(SSH_KEY_MAX_BYTES + 1)
-            if len(body) > SSH_KEY_MAX_BYTES:
-                raise web.HTTPBadGateway(reason="SSH key response too large")
-            return body.decode('utf-8', errors='replace')
-
-
-async def _action_ssh_key_set(request, payload, cache):
-    """Fetch the user's GitHub SSH keys and write both params atomically.
-    Body: { "value": "<github-username>" }. On success the device's
-    sshd_config drop-in is updated by openpilot's own SSH manager."""
-    username = (payload.get('value') or '').strip()
-    if not _validate_github_username(username):
-        raise web.HTTPBadRequest(reason="Invalid GitHub username")
-
-    keys_body = await _fetch_github_ssh_keys(username)
-    if not keys_body.strip():
-        raise web.HTTPBadRequest(reason=f"GitHub user '{username}' has no public SSH keys")
-
-    params = cache.params
-    # Write keys first; only commit the username if keys were stored
-    # successfully — keeps the two params consistent.
-    params.put('GithubSshKeys', keys_body)
-    params.put('GithubUsername', username)
-    cache.invalidate()
-    logger.info(f"SSH keys set from github.com/{username} ({len(keys_body)} bytes)")
-    return {'status': 'ok', 'username': username, 'key_bytes': len(keys_body)}
-
-
-async def _action_ssh_key_clear(request, payload, cache):
-    params = cache.params
-    params.put('GithubSshKeys', '')
-    params.put('GithubUsername', '')
-    cache.invalidate()
-    logger.info("SSH keys cleared")
-    return {'status': 'ok'}
-
-
-_ACTION_HANDLERS = {
-    'ssh_key_set': _action_ssh_key_set,
-    'ssh_key_clear': _action_ssh_key_clear,
-}
-
-
-@api_handler
-async def run_action_api(request):
-    """Dispatch /api/action/{name} → registered handler."""
-    name = request.match_info.get('name', '')
-    handler = _ACTION_HANDLERS.get(name)
-    if handler is None:
-        return web.json_response({'error': f'Unknown action: {name}'}, status=404)
-
-    try:
-        payload = await request.json()
-    except Exception:
-        payload = {}
-
-    cache: AppCache = request.app['cache']
-    result = await handler(request, payload, cache)
-    return web.json_response(result)
-
-
 @api_handler
 async def get_model_list_api(request):
     """Get the model list and current selection."""
     cache: AppCache = request.app['cache']
     params = cache.params
 
-    # Get model list. JSON-typed params come back already-parsed in
+    # Get model list
-    # newer dragonpilot; older builds returned bytes/str — handle both.
     model_list = {}
     try:
-        raw = params.get("dp_dev_model_list")
+        model_list_raw = params.get("dp_dev_model_list")
-        if raw:
+        if model_list_raw:
-            if isinstance(raw, (bytes, str)):
+            model_list = json.loads(model_list_raw)
-                model_list = json.loads(raw)
-            elif isinstance(raw, dict):
-                model_list = raw
     except Exception as e:
         logger.debug(f"Could not parse dp_dev_model_list: {e}")
 
@@ -700,82 +483,423 @@ async def save_model_selection_api(request):
     return web.json_response({'status': 'success'})
 
 
-# --- WebSocket endpoint for data streaming ---
+@api_handler
-# One shared publisher task polls the dashyState SubMaster and fans out
+async def webrtc_stream_proxy(request):
-# to every connected client. The previous per-connection design ran
+    """Proxy WebRTC stream requests to webrtcd."""
-# blocking ZMQ I/O on the event loop, which starved every other request
+    host = request.host.split(':')[0]
-# under multi-client load.
+    body = await request.read()
-async def _publisher_loop(app):
+    session: ClientSession = request.app['http_session']
-    # IMPORTANT: ZMQ sockets are thread-affined. Construct the SubMaster on
+
-    # the asyncio main thread and call update() on the same thread — using
-    # asyncio.to_thread bounces between worker threads and silently breaks
-    # the receive. The 0-timeout update is cheap enough on the event loop;
-    # the per-client send is what we actually need to be async for.
     try:
-        sm = messaging.SubMaster(['dashyState'])
+        async with session.post(
+            f'http://{host}:5001/stream',
+            data=body,
+            headers={'Content-Type': 'application/json'}
+        ) as resp:
+            response_body = await resp.read()
+            return web.Response(
+                body=response_body,
+                status=resp.status,
+                content_type=resp.content_type
+            )
+    except ClientConnectorError:
+        # webrtcd not running - return 503 Service Unavailable
+        return web.json_response(
+            {'error': 'Stream service unavailable', 'code': 'WEBRTCD_UNAVAILABLE'},
+            status=503
+        )
+
+# --- Navigation API Endpoints ---
+@api_handler
+async def nav_get_destination_api(request):
+    """Get current navigation destination.
+
+    GET /api/nav/destination
+    Returns: { latitude, longitude, name } or {}
+    """
+    cache: AppCache = request.app['cache']
+    params = cache.params
+
+    destination = {}
+    try:
+        # JSON type params return dict directly
+        dest = params.get("dp_maa_destination")
+        if dest:
+            destination = dest
     except Exception as e:
-        logger.warning(f"Publisher disabled (SubMaster init failed): {e}")
+        logger.debug(f"Could not get dp_maa_destination: {e}")
-        return
 
-    logger.info("dashyState publisher loop started")
+    return web.json_response(destination)
 
-    while True:
+
+@api_handler
+async def nav_set_destination_api(request):
+    """Set navigation destination.
+
+    POST /api/nav/destination
+    Body: { "latitude": float, "longitude": float, "name": string (optional) }
+    """
+    cache: AppCache = request.app['cache']
+    params = cache.params
+    data = await request.json()
+
+    if 'latitude' not in data or 'longitude' not in data:
+        return web.json_response({'error': 'latitude and longitude required'}, status=400)
+
+    destination = {
+        'latitude': float(data['latitude']),
+        'longitude': float(data['longitude']),
+        'name': data.get('name', '')
+    }
+
+    try:
+        # Use native dict with put_nonblocking for JSON types
+        params.put_nonblocking("dp_maa_destination", destination)
+        logger.info(f"Nav destination set: {destination['latitude']:.6f}, {destination['longitude']:.6f}")
+    except Exception as e:
+        logger.warning(f"Could not save NavDestination to params: {e}")
+
+    return web.json_response({'status': 'success', 'destination': destination})
+
+
+@api_handler
+async def nav_clear_destination_api(request):
+    """Clear navigation destination.
+
+    DELETE /api/nav/destination
+    """
+    cache: AppCache = request.app['cache']
+    params = cache.params
+    try:
+        params.remove("dp_maa_destination")
+        logger.info("Nav destination cleared")
+    except Exception as e:
+        logger.warning(f"Could not remove NavDestination from params: {e}")
+    return web.json_response({'status': 'success'})
+
+
+@api_handler
+async def nav_search_api(request):
+    """Search for places/addresses.
+
+    GET /api/nav/search?q=<query>&lat=<lat>&lon=<lon>&limit=<limit>
+    Returns: [{ name, address, latitude, longitude, distance }, ...]
+    """
+    query = request.query.get('q', '').strip()
+    if not query or len(query) < 2:
+        return web.json_response([])
+
+    # Parse optional proximity
+    proximity = None
+    lat_str = request.query.get('lat')
+    lon_str = request.query.get('lon')
+    if lat_str and lon_str:
         try:
-            sm.update(0)
+            proximity = Coordinate(float(lat_str), float(lon_str))
-            if sm.updated['dashyState']:
+        except ValueError:
-                json_data = sm['dashyState'].json
+            pass
-                if isinstance(json_data, bytes):
-                    json_data = json_data.decode('utf-8')
 
-                clients = list(app['ws_clients'])
+    limit = min(int(request.query.get('limit', 10)), 20)
-                for ws in clients:
-                    if ws.closed:
-                        app['ws_clients'].discard(ws)
-                        continue
-                    try:
-                        await ws.send_str(json_data)
-                    except Exception as e:
-                        logger.debug(f"WebSocket send failed, dropping client: {e}")
-                        app['ws_clients'].discard(ws)
 
-            await asyncio.sleep(0.01)
+    # Get map service from app cache
-        except asyncio.CancelledError:
+    map_service: MapService = request.app.get('map_service')
-            raise
+    if not map_service:
-        except Exception as e:
+        cache: AppCache = request.app['cache']
-            # Don't let a transient error tear down the loop silently.
+        map_service = MapService(cache.params)
-            logger.exception(f"Publisher loop error: {e}")
+        request.app['map_service'] = map_service
-            await asyncio.sleep(0.1)
+
+    try:
+        results = await map_service.search_provider.search(query, proximity, limit)
+        # Log which provider was used
+        if results:
+            provider = results[0].provider if hasattr(results[0], 'provider') else 'unknown'
+            logger.info(f"Search '{query}' returned {len(results)} results via {provider}")
+        return web.json_response([
+            {
+                'name': r.name,
+                'address': r.address,
+                'latitude': r.coordinate.latitude,
+                'longitude': r.coordinate.longitude,
+                'distance': r.distance,
+            }
+            for r in results
+        ])
+    except Exception as e:
+        logger.error(f"Search error: {e}")
+        return web.json_response([])
 
 
+@api_handler
+async def nav_route_api(request):
+    """Calculate route between two points.
+
+    POST /api/nav/route
+    Body: { "start": {"lat": float, "lon": float}, "end": {"lat": float, "lon": float} }
+    Returns: { distance_m, duration_s, polyline, maneuvers, has_traffic }
+    """
+    data = await request.json()
+
+    start = data.get('start', {})
+    end = data.get('end', {})
+
+    if not all([start.get('lat'), start.get('lon'), end.get('lat'), end.get('lon')]):
+        return web.json_response({'error': 'start and end coordinates required'}, status=400)
+
+    origin = Coordinate(float(start['lat']), float(start['lon']))
+    destination = Coordinate(float(end['lat']), float(end['lon']))
+
+    # Get map service
+    map_service: MapService = request.app.get('map_service')
+    if not map_service:
+        cache: AppCache = request.app['cache']
+        map_service = MapService(cache.params)
+        request.app['map_service'] = map_service
+
+    try:
+        route = await map_service.route_provider.get_route(origin, destination)
+        if not route:
+            return web.json_response({'error': 'No route found'}, status=404)
+
+        logger.info(f"Route calculated: {route.distance/1000:.1f}km via {route.provider}")
+        return web.json_response({
+            'distance_m': route.distance,
+            'duration_s': route.duration,
+            'polyline': _encode_polyline(route.geometry) if route.geometry else '',
+            'geometry': [[c.latitude, c.longitude] for c in route.geometry] if route.geometry else [],
+            'maneuvers': [
+                {
+                    'instruction': step.name or '',
+                    'distance_m': step.distance,
+                    'duration_s': step.duration,
+                    'position': {
+                        'lat': step.maneuver_point.latitude,
+                        'lon': step.maneuver_point.longitude
+                    } if step.maneuver_point else None,
+                    'type': step.maneuver_type,
+                    'modifier': step.maneuver_modifier,
+                }
+                for step in route.steps
+            ],
+            'has_traffic': route.has_traffic,
+            'provider': route.provider,
+        })
+    except Exception as e:
+        logger.error(f"Route error: {e}")
+        return web.json_response({'error': str(e)}, status=500)
+
+
+def _encode_polyline(coordinates: list) -> str:
+    """Encode coordinates to Google polyline format."""
+    if not coordinates:
+        return ''
+
+    result = []
+    prev_lat = 0
+    prev_lon = 0
+
+    for coord in coordinates:
+        lat = int(round(coord.latitude * 1e5))
+        lon = int(round(coord.longitude * 1e5))
+
+        d_lat = lat - prev_lat
+        d_lon = lon - prev_lon
+
+        for val in [d_lat, d_lon]:
+            val = ~(val << 1) if val < 0 else (val << 1)
+            while val >= 0x20:
+                result.append(chr((0x20 | (val & 0x1f)) + 63))
+                val >>= 5
+            result.append(chr(val + 63))
+
+        prev_lat = lat
+        prev_lon = lon
+
+    return ''.join(result)
+
+
+@api_handler
+async def nav_tiles_config_api(request):
+    """Get tile provider configuration.
+
+    GET /api/nav/tiles/config
+    Returns: { url_template, style_url, attribution, min_zoom, max_zoom }
+    """
+    map_service: MapService = request.app.get('map_service')
+    if not map_service:
+        cache: AppCache = request.app['cache']
+        map_service = MapService(cache.params)
+        request.app['map_service'] = map_service
+
+    try:
+        config = map_service.tile_provider.get_tile_config()
+        return web.json_response({
+            'url_template': config.url_template,
+            'style_url': config.style_url,
+            'attribution': config.attribution,
+            'min_zoom': config.min_zoom,
+            'max_zoom': config.max_zoom,
+        })
+    except Exception as e:
+        logger.error(f"Tile config error: {e}")
+        return web.json_response({'error': str(e)}, status=500)
+
+
+# --- Places API (Favorites + Recent) ---
+# In-memory cache (persists for server session even if params fails)
+_places_cache = {"home": None, "work": None, "recent": []}
+
+def _get_places(params) -> dict:
+    """Get places data from dp_maa_places param or memory cache."""
+    global _places_cache
+    try:
+        # JSON type params return dict/list directly
+        data = params.get("dp_maa_places")
+        if data:
+            _places_cache = data  # sync to memory
+            return data
+    except Exception as e:
+        logger.debug(f"Could not parse dp_maa_places: {e}")
+    return _places_cache
+
+
+def _save_places(params, places: dict):
+    """Save places data to dp_maa_places param and memory cache."""
+    global _places_cache
+    _places_cache = places  # always save to memory first
+    try:
+        # JSON type params accept dict/list directly
+        params.put("dp_maa_places", places)
+    except Exception as e:
+        logger.warning(f"Failed to save places to params: {e}")
+
+
+def _haversine_distance(lat1, lon1, lat2, lon2) -> float:
+    """Calculate distance between two points in meters."""
+    import math
+    R = 6371000
+    phi1, phi2 = math.radians(lat1), math.radians(lat2)
+    d_phi = math.radians(lat2 - lat1)
+    d_lambda = math.radians(lon2 - lon1)
+    a = math.sin(d_phi / 2) ** 2 + math.cos(phi1) * math.cos(phi2) * math.sin(d_lambda / 2) ** 2
+    return R * 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
+
+
+def _add_to_recent(places: dict, place: dict) -> dict:
+    """Add a place to recent list with deduplication."""
+    recent = [r for r in places.get("recent", [])
+              if _haversine_distance(r["lat"], r["lon"], place["lat"], place["lon"]) > 100]
+    recent.insert(0, place)
+    places["recent"] = recent[:5]
+    return places
+
+
+@api_handler
+async def nav_get_places_api(request):
+    """GET /api/nav/places - Get all places."""
+    cache: AppCache = request.app['cache']
+    return web.json_response(_get_places(cache.params))
+
+
+@api_handler
+async def nav_set_place_api(request):
+    """POST /api/nav/places/{place_type} - Set home or work."""
+    place_type = request.match_info.get('place_type')
+    if place_type not in ('home', 'work'):
+        return web.json_response({'error': 'Invalid place type'}, status=400)
+
+    cache: AppCache = request.app['cache']
+    data = await request.json()
+    if 'lat' not in data or 'lon' not in data:
+        return web.json_response({'error': 'lat and lon required'}, status=400)
+
+    places = _get_places(cache.params)
+    places[place_type] = {
+        'name': data.get('name', place_type.capitalize()),
+        'address': data.get('address', ''),
+        'lat': float(data['lat']),
+        'lon': float(data['lon'])
+    }
+    _save_places(cache.params, places)
+    return web.json_response({'success': True, place_type: places[place_type]})
+
+
+@api_handler
+async def nav_delete_place_api(request):
+    """DELETE /api/nav/places/{place_type} - Delete home or work."""
+    place_type = request.match_info.get('place_type')
+    if place_type not in ('home', 'work'):
+        return web.json_response({'error': 'Invalid place type'}, status=400)
+
+    cache: AppCache = request.app['cache']
+    places = _get_places(cache.params)
+    places[place_type] = None
+    _save_places(cache.params, places)
+    return web.json_response({'success': True})
+
+
+@api_handler
+async def nav_add_recent_api(request):
+    """POST /api/nav/places/recent - Add to recent."""
+    cache: AppCache = request.app['cache']
+    data = await request.json()
+    if 'lat' not in data or 'lon' not in data:
+        return web.json_response({'error': 'lat and lon required'}, status=400)
+
+    places = _get_places(cache.params)
+    place = {'name': data.get('name', 'Unknown'), 'address': data.get('address', ''),
+             'lat': float(data['lat']), 'lon': float(data['lon'])}
+    places = _add_to_recent(places, place)
+    _save_places(cache.params, places)
+    return web.json_response({'success': True, 'recent': places['recent']})
+
+
+@api_handler
+async def nav_clear_recent_api(request):
+    """DELETE /api/nav/places/recent - Clear recent."""
+    cache: AppCache = request.app['cache']
+    places = _get_places(cache.params)
+    places['recent'] = []
+    _save_places(cache.params, places)
+    return web.json_response({'success': True})
+
+
+# --- WebSocket endpoint for data streaming ---
 async def websocket_handler(request):
     """WebSocket endpoint for data-only connections - streams dashyState directly."""
     ws = web.WebSocketResponse()
     await ws.prepare(request)
 
     logger.info("WebSocket client connected")
-    request.app['ws_clients'].add(ws)
+
+    # Create a SubMaster for this connection
+    sm = messaging.SubMaster(['dashyState'])
 
     try:
-        # Wait until the client disconnects; no inbound traffic expected.
+        while not ws.closed:
-        async for _ in ws:
+            sm.update(0)
-            pass
+            if sm.updated['dashyState']:
+                json_data = sm['dashyState'].json
+                if isinstance(json_data, bytes):
+                    json_data = json_data.decode('utf-8')
+                await ws.send_str(json_data)
+            await asyncio.sleep(0.01)
     except Exception as e:
         logger.warning(f"WebSocket error: {e}")
     finally:
-        request.app['ws_clients'].discard(ws)
         logger.info("WebSocket client disconnected")
 
     return ws
 
 
-# --- No-cache middleware for web assets ---
+# --- CORS Middleware ---
-# Dashy is a same-origin LAN app; no CORS headers are emitted so that
-# browsers will block cross-origin JS from mutating settings via the
-# JSON endpoints (the preflight will fail for non-simple requests).
 @web.middleware
-async def no_cache_middleware(request, handler):
+async def cors_middleware(request, handler):
     response = await handler(request)
+    response.headers['Access-Control-Allow-Origin'] = '*'
+    response.headers['Access-Control-Allow-Methods'] = 'GET, POST, PUT, DELETE, OPTIONS'
+    response.headers['Access-Control-Allow-Headers'] = 'Content-Type, Authorization'
 
+    # Disable caching for web assets
     path = request.path.lower()
     if path.endswith(('.html', '.js', '.css')) or path == '/':
         response.headers['Cache-Control'] = 'no-cache, no-store, must-revalidate'
@@ -785,24 +909,26 @@ async def no_cache_middleware(request, handler):
     return response
 
 
+async def handle_cors_preflight(request):
+    return web.Response(status=200, headers={
+        'Access-Control-Allow-Origin': '*',
+        'Access-Control-Allow-Methods': 'GET, POST, PUT, DELETE, OPTIONS',
+        'Access-Control-Allow-Headers': 'Content-Type, Authorization',
+        'Access-Control-Max-Age': '86400',
+    })
+
+
 # --- Application Setup ---
 async def on_startup(app):
     """Initialize app-level resources."""
     app['cache'] = AppCache()
-    app['ws_clients'] = set()
+    app['http_session'] = ClientSession(timeout=WEBRTC_TIMEOUT)
-    app['publisher_task'] = asyncio.create_task(_publisher_loop(app))
     logger.info("Dashy server started")
 
 
 async def on_cleanup(app):
     """Cleanup app-level resources."""
-    task = app.get('publisher_task')
+    await app['http_session'].close()
-    if task and not task.done():
-        task.cancel()
-        try:
-            await task
-        except (asyncio.CancelledError, Exception):
-            pass
     logger.info("Dashy server stopped")
 
 
@@ -812,7 +938,8 @@ def setup_aiohttp_app(host: str, port: int, debug: bool):
         format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
     )
 
-    app = web.Application(middlewares=[no_cache_middleware])
+    app = web.Application(middlewares=[cors_middleware])
+    app['port'] = port
 
     # API routes
     app.router.add_get("/api/init", init_api)
@@ -824,9 +951,26 @@ def setup_aiohttp_app(host: str, port: int, debug: bool):
     app.router.add_post("/api/settings/params/{param_name}", save_param_api)
     app.router.add_get("/api/models", get_model_list_api)
     app.router.add_post("/api/models/select", save_model_selection_api)
-    app.router.add_post("/api/action/{name}", run_action_api)
+    app.router.add_post("/api/stream", webrtc_stream_proxy)
     app.router.add_get("/api/ws", websocket_handler)  # WebSocket for data streaming
 
+    # Navigation routes
+    app.router.add_get("/api/nav/destination", nav_get_destination_api)
+    app.router.add_post("/api/nav/destination", nav_set_destination_api)
+    app.router.add_delete("/api/nav/destination", nav_clear_destination_api)
+    app.router.add_get("/api/nav/search", nav_search_api)
+    app.router.add_post("/api/nav/route", nav_route_api)
+    app.router.add_get("/api/nav/tiles/config", nav_tiles_config_api)
+
+    # Places routes (favorites + recent) - specific routes before parametrized
+    app.router.add_get("/api/nav/places", nav_get_places_api)
+    app.router.add_post("/api/nav/places/recent", nav_add_recent_api)
+    app.router.add_delete("/api/nav/places/recent", nav_clear_recent_api)
+    app.router.add_post("/api/nav/places/{place_type}", nav_set_place_api)
+    app.router.add_delete("/api/nav/places/{place_type}", nav_delete_place_api)
+
+    app.router.add_route('OPTIONS', '/{tail:.*}', handle_cors_preflight)
+
     # Static files
     app.router.add_static('/media', path=DEFAULT_DIR, name='media', show_index=False, follow_symlinks=False)
     app.router.add_static('/download', path=DEFAULT_DIR, name='download', show_index=False, follow_symlinks=False)

dragonpilot/dashy/web/dist/icons/navigation/arrive.svg

@@ -0,0 +1,4 @@
+<svg id="WORKING_ICONS" data-name="WORKING ICONS" xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
+  <title>direction</title>
+  <path fill="#FFFFFF" d="M10,5a2,2,0,1,1,2-2A2,2,0,0,1,10,5Zm4.91284,8.35114L10.00916,7.0083,5.10547,13.35114a0.38659,0.38659,0,0,0,.40942.62354l2.95184-1.34375A0.35542,0.35542,0,0,1,9.00769,13H9v5.50006A0.49992,0.49992,0,0,0,9.49994,19h1.00012A0.49992,0.49992,0,0,0,11,18.50006V13.0083h0.00916a0.35757,0.35757,0,0,1,.54242-0.37738l2.95184,1.34375A0.3866,0.3866,0,0,0,14.91284,13.35114Z"/>
+</svg>

dragonpilot/dashy/web/dist/icons/navigation/arrive_left.svg

@@ -0,0 +1,4 @@
+<svg id="WORKING_ICONS" data-name="WORKING ICONS" xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
+  <title>direction</title>
+  <path fill="#FFFFFF" d="M3,12a2,2,0,1,1,2-2A2,2,0,0,1,3,12Zm10.00293-.96332a4.05782,4.05782,0,0,1,3.98877,4.07324H17v1.37775A0.51232,0.51232,0,0,0,17.51233,17h0.97534A0.51232,0.51232,0,0,0,19,16.48767V15H18.98615a6.05607,6.05607,0,0,0-5.9834-5.96332l-0.011-.00183,0.00012,0.02008H12V9.04584a0.35757,0.35757,0,0,1-.37738-0.54242l1.34375-2.95184a0.38659,0.38659,0,0,0-.62354-0.40942L6,10.04584l6.34283,4.90369a0.3866,0.3866,0,0,0,.62354-0.40942l-1.34375-2.95184A0.35757,0.35757,0,0,1,12,11.04584v0.00909h1"/>
+</svg>

dragonpilot/dashy/web/dist/icons/navigation/arrive_right.svg

@@ -0,0 +1,4 @@
+<svg id="WORKING_ICONS" data-name="WORKING ICONS" xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
+  <title>direction</title>
+  <path fill="#FFFFFF" d="M15,10a2,2,0,1,1,2,2A2,2,0,0,1,15,10ZM7,11.05493H8V11.04584a0.35757,0.35757,0,0,1,.37738.54242L7.03363,14.5401a0.3866,0.3866,0,0,0,.62354.40942L14,10.04584,7.65717,5.14215a0.38659,0.38659,0,0,0-.62354.40942L8.37738,8.50342A0.35757,0.35757,0,0,1,8,9.04584V9.05493H7.00818L7.0083,9.03485l-0.011.00183A6.05607,6.05607,0,0,0,1.01385,15H1v1.48767A0.51232,0.51232,0,0,0,1.51233,17H2.48767A0.51232,0.51232,0,0,0,3,16.48767V15.10992H3.0083a4.05782,4.05782,0,0,1,3.98877-4.07324"/>
+</svg>

dragonpilot/dashy/web/dist/icons/navigation/arrive_straight.svg

@@ -0,0 +1,4 @@
+<svg id="WORKING_ICONS" data-name="WORKING ICONS" xmlns="http://www.w3.org/2000/svg" width="20" height="20" viewBox="0 0 20 20">
+  <title>direction</title>
+  <path fill="#FFFFFF" d="M10,5a2,2,0,1,1,2-2A2,2,0,0,1,10,5Zm4.91284,8.35114L10.00916,7.0083,5.10547,13.35114a0.38659,0.38659,0,0,0,.40942.62354l2.95184-1.34375A0.35542,0.35542,0,0,1,9.00769,13H9v5.50006A0.49992,0.49992,0,0,0,9.49994,19h1.00012A0.49992,0.49992,0,0,0,11,18.50006V13.0083h0.00916a0.35757,0.35757,0,0,1,.54242-0.37738l2.95184,1.34375A0.3866,0.3866,0,0,0,14.91284,13.35114Z"/>
+</svg>