Merge branch 'upstream/master' into sync-20260602

# Conflicts: # docs/CARS.md # opendbc/car/honda/values.py # opendbc/safety/modes/nissan.h # opendbc/safety/tests/libsafety/libsafety_py.py # opendbc/safety/tests/libsafety/safety.c # opendbc/safety/tests/test_gm.py # opendbc/safety/tests/test_tesla.py
2026-06-08 10:54:51 +08:00 · 2026-06-02 13:31:55 -04:00
parent 4dad7b09dd 560b75d6bb
commit 2ee2164180
51 changed files with 711 additions and 350 deletions
--- a/README.md
+++ b/README.md
@@ -59,7 +59,7 @@ cd opendbc
 # here are the individual commands it runs
 pip3 install -e .[testing,docs]  # install dependencies
 scons -j8                        # build with 8 cores
-pytest .                         # run the tests
+unittest-parallel                # run the tests
 lefthook run lint                # run the linter
 ```

--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

-# Support Information for 417 Known Cars
+# Support Information for 419 Known Cars

 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -16,7 +16,7 @@
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
 |Acura|RDX 2019-21|All|[Upstream](#upstream)|
 |Acura|RDX 2022-24|All|[Dashcam mode](#dashcam)|
-|Acura|RDX 2025|All|[Community](#community)|
+|Acura|RDX 2025-26|All|[Community](#community)|
 |Acura|RLX 2017|Advance Package or Technology Package|[Community](#community)|
 |Acura|TLX 2015-17|Advance Package|[Community](#community)|
 |Acura|TLX 2018-20|All|[Community](#community)|
@@ -69,8 +69,8 @@
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
-|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
-|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|Focus 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|Focus Hybrid 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
@@ -138,6 +138,7 @@
 |Honda|Passport 2026|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-25|All|[Upstream](#upstream)|
+|Honda|Pilot 2026|All|[Community](#community)|
 |Honda|Prologue 2024-25|All|[Not compatible](#can-bus-security)|
 |Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
 |Hyundai|Azera 2022|All|[Upstream](#upstream)|
@@ -157,6 +158,7 @@
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2020|All|[Upstream](#upstream)|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -273,7 +275,7 @@
 |Mazda|CX-5 2022-25|All|[Upstream](#upstream)|
 |Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
 |Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
-|Nissan|Altima 2019-20, 2024|ProPILOT Assist|[Upstream](#upstream)|
+|Nissan|Altima 2019-24|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
--- a/opendbc/car/car.capnp
+++ b/opendbc/car/car.capnp
@@ -176,8 +176,6 @@ struct CarState {

  gasPressed @4 :Bool;    # this is user pedal only

-  # brake pedal, 0.0-1.0
-  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
  regenBraking @45 :Bool; # this is user pedal only
  parkingBrake @39 :Bool;
@@ -285,7 +283,8 @@ struct CarState {

  # deprecated
  errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
-  gasDEPRECATED @3 :Float32;        # this is user pedal only
+  gasDEPRECATED @3 :Float32;
+  brakeDEPRECATED @5 :Float32;
  brakeLightsDEPRECATED @19 :Bool;
  steeringRateLimitedDEPRECATED @29 :Bool;
  canMonoTimesDEPRECATED @12: List(UInt64);
--- a/opendbc/car/chrysler/carstate.py
+++ b/opendbc/car/chrysler/carstate.py
@@ -50,7 +50,6 @@ class CarState(CarStateBase, MadsCarState, CarStateExt):
    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1

    # brake pedal
-    ret.brake = 0
    ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1  # Physical brake pedal switch

    # gas pedal
@@ -126,7 +125,6 @@ class CarState(CarStateBase, MadsCarState, CarStateExt):
    ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"])

    ret.brakePressed = bool(cp.vl["BRAKE_3"]["DRIVER_BRAKE_SWITCH"])
-    ret.brake = cp.vl["BRAKE_1"]["DRIVER_BRAKE_PRESSURE"]
    ret.gasPressed = cp.vl["ACCEL_GAS"]["GAS_HUMAN"] > 0

    ret.espDisabled = bool(cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"])
--- a/opendbc/car/extra_cars.py
+++ b/opendbc/car/extra_cars.py
@@ -42,7 +42,7 @@ class CAR(Platforms):
      CommunityCarDocs("Acura MDX 2015-16", "Advance Package"),
      CommunityCarDocs("Acura MDX 2017-20"),
      CommunityCarDocs("Acura MDX Hybrid 2017-20"),
-      CommunityCarDocs("Acura RDX 2025"),
+      CommunityCarDocs("Acura RDX 2025-26"),
      CommunityCarDocs("Acura RLX 2017", "Advance Package or Technology Package"),
      CommunityCarDocs("Acura TLX 2015-17", "Advance Package"),
      CommunityCarDocs("Acura TLX 2018-20"),
@@ -51,6 +51,7 @@ class CAR(Platforms):
      CommunityCarDocs("Honda Accord 2016-17", "Honda Sensing"),
      CommunityCarDocs("Honda Accord Hybrid 2017"),
      CommunityCarDocs("Honda Clarity 2018-21"),
+      CommunityCarDocs("Honda Pilot 2026"),
      GMSecurityCarDocs("Honda Prologue 2024-25"),
    ],
  )
--- a/opendbc/car/ford/carcontroller.py
+++ b/opendbc/car/ford/carcontroller.py
@@ -2,7 +2,7 @@ import math
 import numpy as np
 from opendbc.can import CANPacker
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
-from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
+from opendbc.car.lateral import AVERAGE_ROAD_ROLL, ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
 from opendbc.car.ford import fordcan
 from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
@@ -11,8 +11,7 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
 VisualAlert = structs.CarControl.HUDControl.VisualAlert

 # CAN FD limits:
-# Limit to average banked road since safety doesn't have the roll
-AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll raises lateral acceleration
+# Limit to average banked road since safety doesn't have the roll, higher actual roll lowers lateral acceleration
 MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~2.4 m/s^2


--- a/opendbc/car/ford/carstate.py
+++ b/opendbc/car/ford/carstate.py
@@ -44,7 +44,6 @@ class CarState(CarStateBase, MadsCarState):
    ret.gasPressed = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. > 1e-6

    # brake pedal
-    ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756.  # torque in Nm
    ret.brakePressed = cp.vl["EngBrakeData"]["BpedDrvAppl_D_Actl"] == 2
    ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)

--- a/opendbc/car/ford/fingerprints.py
+++ b/opendbc/car/ford/fingerprints.py
@@ -174,15 +174,19 @@ FW_VERSIONS = {
  CAR.FORD_FOCUS_MK4: {
    (Ecu.eps, 0x730, None): [
      b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x760, None): [
      b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX61-2D053-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x764, None): [
      b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'JX7T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdCamera, 0x706, None): [
      b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1BT-14F397-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  },
  CAR.FORD_MAVERICK_MK1: {
--- a/opendbc/car/ford/values.py
+++ b/opendbc/car/ford/values.py
@@ -160,7 +160,7 @@ class CAR(Platforms):
    CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
  )
  FORD_FOCUS_MK4 = FordPlatformConfig(
-    [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
+    [FordCarDocs("Ford Focus 2018-22", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
    CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
  )
  FORD_MAVERICK_MK1 = FordPlatformConfig(
--- a/opendbc/car/gm/carstate.py
+++ b/opendbc/car/gm/carstate.py
@@ -87,7 +87,6 @@ class CarState(CarStateBase, CarStateExt):
    else:
      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))

-    ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
    else:
@@ -95,7 +94,7 @@ class CarState(CarStateBase, CarStateExt):
      # that the brake is being intermittently pressed without user interaction.
      # To avoid a cruise fault we need to use a conservative brake position threshold
      # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
-      ret.brakePressed = ret.brake >= 8
+      ret.brakePressed = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] >= 8

    # Regen braking is braking
    if self.CP.transmissionType == TransmissionType.direct:
--- a/opendbc/car/honda/carstate.py
+++ b/opendbc/car/honda/carstate.py
@@ -198,15 +198,9 @@ class CarState(CarStateBase, CarStateExt):
        self.brake_switch_prev = brake_switch
      ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active

-    ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
    ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
    ret.cruiseState.available = bool(cp.vl[self.car_state_scm_msg]["MAIN_ON"])

-    # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
-      if ret.brake > 0.1:
-        ret.brakePressed = True
-
    if self.CP.carFingerprint in HONDA_BOSCH:
      # TODO: find the radarless AEB_STATUS bit and make sure ACCEL_COMMAND is correct to enable AEB alerts
      if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
--- a/opendbc/car/honda/values.py
+++ b/opendbc/car/honda/values.py
@@ -111,6 +111,9 @@ class HondaCarDocs(CarDocs):

    self.car_parts = CarParts.common([harness])

+    if CP.alphaLongitudinalAvailable:
+      self.footnotes.append(Footnote.HONDA_ALPHALONG)
+
    if CP.carFingerprint in (CAR.HONDA_CLARITY,):
      self.car_parts = CarParts.common([CarHarness.honda_clarity])
      self.car_parts.custom_parts_url = "https://shop.retropilot.org/product/honda-clarity-proxy-board-kit"
@@ -122,6 +125,9 @@ class Footnote(Enum):
  CIVIC_DIESEL = CarFootnote(
    "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
    Column.FSR_STEERING)
+  HONDA_ALPHALONG = CarFootnote(
+    "Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW.",
+    Column.LONGITUDINAL)


@dataclass
--- a/opendbc/car/hyundai/carstate.py
+++ b/opendbc/car/hyundai/carstate.py
@@ -139,8 +139,6 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv

-    # TODO: Find brake pressure
-    ret.brake = 0
    ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2  # 2 includes regen braking by user on HEV/EV
    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
    ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
--- a/opendbc/car/hyundai/fingerprints.py
+++ b/opendbc/car/hyundai/fingerprints.py
@@ -769,6 +769,7 @@ FW_VERSIONS = {
      b'\xf1\x00SG2EMFC  AT USA LHD 1.00 1.00 99211-AT100 230216',
      b'\xf1\x00SG2EMFC  AT USA LHD 1.00 1.00 99211-AT200 240401',
      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
+      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.10 99211-AT000 230417',
    ],
  },
  CAR.KIA_NIRO_PHEV: {
@@ -1079,6 +1080,7 @@ FW_VERSIONS = {
      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.04 99211-KL000 221213',
      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.06 99211-KL000 230915',
+      b'\xf1\x00CE  MFC  AT CAN LHD 1.00 1.06 99211-KL000 230915',
    ],
  },
  CAR.HYUNDAI_TUCSON_4TH_GEN: {
--- a/opendbc/car/hyundai/values.py
+++ b/opendbc/car/hyundai/values.py
@@ -164,11 +164,11 @@ class HyundaiNonSccCarDocs(CarDocs):

@dataclass
 class HyundaiPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_can_generated"})

  def init(self):
    if self.flags & HyundaiFlags.MANDO_RADAR:
-      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: 'hyundai_kia_mando_front_radar_generated'}
+      self.dbc_dict = {Bus.pt: "hyundai_can_generated", Bus.radar: 'hyundai_kia_mando_front_radar_generated'}

    if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
      self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
@@ -176,7 +176,7 @@ class HyundaiPlatformConfig(PlatformConfig):

@dataclass
 class HyundaiNonSccPlatformConfig(PlatformConfig):
-  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_kia_generic"})
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_can_generated"})

  def init(self):
    self.sp_flags |= HyundaiFlagsSP.NON_SCC
@@ -384,7 +384,10 @@ class CAR(Platforms):
    flags=HyundaiFlags.EV,
  )
  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
+    [
+        HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
+        HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
+    ],
    HYUNDAI_IONIQ_5.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
--- a/opendbc/car/lateral.py
+++ b/opendbc/car/lateral.py
@@ -1,26 +1,39 @@
 import math
 import numpy as np
 from dataclasses import dataclass
-from opendbc.car import structs, rate_limit, DT_CTRL
+from opendbc.car import structs, rate_limit, DT_CTRL, ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car.vehicle_model import VehicleModel

 FRICTION_THRESHOLD = 0.2

-# ISO 11270
+# - ISO 11270
 ISO_LATERAL_ACCEL = 3.0  # m/s^2
 ISO_LATERAL_JERK = 5.0  # m/s^3

+# - Common angle safety limits
+AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration

+
+# TODO: deprecate in favor of vehicle-model-based limiting
+#  (need to solve cars having different steering ratios, etc.)
@dataclass
 class AngleSteeringLimits:
-  # v1 limits (using apply_std_steer_angle_limits)
+  # uses apply_std_steer_angle_limits
  STEER_ANGLE_MAX: float
  ANGLE_RATE_LIMIT_UP: tuple[list[float], list[float]]
  ANGLE_RATE_LIMIT_DOWN: tuple[list[float], list[float]]

-  # v2 vehicle model limits (using apply_steer_angle_limits_vm)
-  MAX_LATERAL_ACCEL: float = 0
-  MAX_LATERAL_JERK: float = 0
+
+@dataclass
+class AngleSteeringLimitsVM:
+  # uses apply_steer_angle_limits_vm
+  # Max accepted by the EPS
+  STEER_ANGLE_MAX: float
+  # Add extra tolerance for average banked road since safety doesn't have the roll
+  MAX_LATERAL_ACCEL: float = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~3.6 m/s^2
+  # Lower than ISO 11270 lateral jerk limit (5.0 m/s^3) with bank tolerance, matches safety MAX_LATERAL_JERK
+  MAX_LATERAL_JERK: float = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~3.6 m/s^3
+  # Used for comfort or to prevent faults at low speed
  MAX_ANGLE_RATE: float = math.inf


--- a/opendbc/car/mazda/carstate.py
+++ b/opendbc/car/mazda/carstate.py
@@ -56,9 +56,7 @@ class CarState(CarStateBase):
    ret.steeringTorqueEps = cp.vl["STEER_TORQUE"]["STEER_TORQUE_MOTOR"]
    ret.steeringRateDeg = cp.vl["STEER_RATE"]["STEER_ANGLE_RATE"]

-    # TODO: this should be from 0 - 1.
    ret.brakePressed = cp.vl["PEDALS"]["BRAKE_ON"] == 1
-    ret.brake = cp.vl["BRAKE"]["BRAKE_PRESSURE"]

    ret.seatbeltUnlatched = cp.vl["SEATBELT"]["DRIVER_SEATBELT"] == 0
    ret.doorOpen = any([cp.vl["DOORS"]["FL"], cp.vl["DOORS"]["FR"],
--- a/opendbc/car/mazda/fingerprints.py
+++ b/opendbc/car/mazda/fingerprints.py
@@ -12,6 +12,7 @@ FW_VERSIONS = {
    ],
    (Ecu.engine, 0x7e0, None): [
      b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PF10-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PGK4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PW67-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PW67-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -46,6 +47,7 @@ FW_VERSIONS = {
    (Ecu.transmission, 0x7e1, None): [
      b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PG69-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PGG4-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PW66-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PW66-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
--- a/opendbc/car/nissan/carcontroller.py
+++ b/opendbc/car/nissan/carcontroller.py
@@ -1,9 +1,11 @@
+import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, structs
+from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.nissan import nissancan
 from opendbc.car.nissan.values import CAR, CarControllerParams
+from opendbc.car.common.filter_simple import FirstOrderFilter

 VisualAlert = structs.CarControl.HUDControl.VisualAlert

@@ -13,6 +15,8 @@ class CarController(CarControllerBase):
    super().__init__(dbc_names, CP, CP_SP)
    self.car_fingerprint = CP.carFingerprint

+    self.angle_filter = FirstOrderFilter(0.0, 0.1, DT_CTRL)
+
    self.apply_angle_last = 0

    self.packer = CANPacker(dbc_names[Bus.pt])
@@ -27,8 +31,15 @@ class CarController(CarControllerBase):
    ### STEER ###
    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0

+    # At low speeds and at high steering angles, EPS is sensitive to jitter in angle request. Smooth to fix uncomfortable response.
+    if CC.latActive:
+      self.angle_filter.update_alpha(float(np.interp(CS.out.vEgo, [5, 10, 20], [0.2, 0.1, 0.0])))
+      self.angle_filter.update(actuators.steeringAngleDeg)
+    else:
+      self.angle_filter.x = actuators.steeringAngleDeg
+
    # windup slower
-    self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
+    self.apply_angle_last = apply_std_steer_angle_limits(self.angle_filter.x, self.apply_angle_last, CS.out.vEgoRaw,
                                                         CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)

    lkas_max_torque = 0
@@ -37,12 +48,11 @@ class CarController(CarControllerBase):
      if not bool(CS.out.steeringPressed):
        lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
      else:
-        # Scale max torque based on how much torque the driver is applying to the wheel
+        # Scale max torque based on how much torque the driver is applying to the wheel.
+        # Start scaling torque at STEER_THRESHOLD down to 0.2. If we don't scale this low, EPS will temp fault from high driver and LKAS torque
        lkas_max_torque = max(
-          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
-          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
-          # Start scaling torque at STEER_THRESHOLD
-          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
+          CarControllerParams.LKAS_MIN_TORQUE,
+          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD),
        )

    if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
--- a/opendbc/car/nissan/carstate.py
+++ b/opendbc/car/nissan/carstate.py
@@ -89,17 +89,21 @@ class CarState(CarStateBase, CarStateExt):
      ret.cruiseState.speed = speed * conversion
      ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus

+    # Altima EPS faults when user overrides above a certain torque.
+    # It also faults on sharp curves, although the threshold is unknown at this time
    if self.CP.carFingerprint == CAR.NISSAN_ALTIMA:
      ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+      ret.steerFaultTemporary = cp_cam.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
+      ret.steeringAngleDeg = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
    else:
      ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
+      ret.steerFaultTemporary = cp.vl["STEER_TORQUE_SENSOR"]["LKAS_STATUS"] == 9
+      ret.steeringAngleDeg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]

    self.steeringTorqueSamples.append(ret.steeringTorque)
    # Filtering driver torque to prevent steeringPressed false positives
    ret.steeringPressed = bool(abs(sum(self.steeringTorqueSamples) / TORQUE_SAMPLES) > CarControllerParams.STEER_THRESHOLD)

-    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"]
-
    ret.leftBlinker = bool(cp.vl["LIGHTS"]["LEFT_BLINKER"])
    ret.rightBlinker = bool(cp.vl["LIGHTS"]["RIGHT_BLINKER"])

--- a/opendbc/car/nissan/fingerprints.py
+++ b/opendbc/car/nissan/fingerprints.py
@@ -16,6 +16,7 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'237106GU3B',
      b'237109HE2B',
+      b'237106GV3A',
    ],
    (Ecu.gateway, 0x18dad0f1, None): [
      b'284U29HE0A',
--- a/opendbc/car/nissan/interface.py
+++ b/opendbc/car/nissan/interface.py
@@ -9,7 +9,7 @@ class CarInterface(CarInterfaceBase):
  CarState = CarState
  CarController = CarController

-  DRIVABLE_GEARS = (structs.CarState.GearShifter.brake,)
+  DRIVABLE_GEARS = (structs.CarState.GearShifter.brake, structs.CarState.GearShifter.low)

  @staticmethod
  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
--- a/opendbc/car/nissan/values.py
+++ b/opendbc/car/nissan/values.py
@@ -19,6 +19,7 @@ class CarControllerParams:
    ([0., 5., 15.], [5., 3.5, 0.4]),
  )

+  LKAS_MIN_TORQUE = 0.2             # Adequate torque when overriding without faulting
  LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
  STEER_THRESHOLD = 1.0

@@ -72,7 +73,7 @@ class CAR(Platforms):
    NissanCarSpecs(mass=1610, wheelbase=2.705)
  )
  NISSAN_ALTIMA = NissanPlatformConfig(
-    [NissanCarDocs("Nissan Altima 2019-20, 2024", car_parts=CarParts.common([CarHarness.nissan_b]))],
+    [NissanCarDocs("Nissan Altima 2019-24", car_parts=CarParts.common([CarHarness.nissan_b]))],
    NissanCarSpecs(mass=1492, wheelbase=2.824)
  )

@@ -92,34 +93,47 @@ NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'

 NISSAN_RX_OFFSET = 0x20

+# TODO: once we gather enough Altima data on PT bus (1), we can remove OBD queries to speed up fingerprinting
 FW_QUERY_CONFIG = FwQueryConfig(
-  requests=[request for bus, logging in ((0, False), (1, True)) for request in [
+  requests=[request for bus, obd_multiplexing in ((0, False), (1, False), (1, True)) for request in [
    Request(
      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
      bus=bus,
-      logging=logging,
+      logging=obd_multiplexing,
+      obd_multiplexing=obd_multiplexing,
    ),
    Request(
      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
      rx_offset=NISSAN_RX_OFFSET,
      bus=bus,
-      logging=logging,
+      logging=obd_multiplexing,
+      obd_multiplexing=obd_multiplexing,
    ),
    # Rogue's engine solely responds to this
    Request(
      [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
      [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
      bus=bus,
-      logging=logging,
+      logging=obd_multiplexing,
+      obd_multiplexing=obd_multiplexing,
    ),
    Request(
      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
      rx_offset=NISSAN_RX_OFFSET,
      bus=bus,
-      logging=logging,
+      logging=obd_multiplexing,
+      obd_multiplexing=obd_multiplexing,
+    ),
+    # Some newer Altima engines respond at normal rx offset
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=bus,
+      logging=obd_multiplexing,
+      obd_multiplexing=obd_multiplexing,
    ),
  ]],
 )
--- a/opendbc/car/rivian/carstate.py
+++ b/opendbc/car/rivian/carstate.py
@@ -37,7 +37,6 @@ class CarState(CarStateBase, CarStateExt):
    ret.gasPressed = cp.vl["VDM_PropStatus"]["VDM_AcceleratorPedalPosition"] > 0

    # Brake pedal
-    ret.brake = cp.vl["ESPiB3"]["ESPiB3_pMC1"] / 250.0  # pressure in Bar
    ret.brakePressed = cp.vl["iBESP2"]["iBESP2_BrakePedalApplied"] == 1

    # Steering wheel
--- a/opendbc/car/tesla/carstate.py
+++ b/opendbc/car/tesla/carstate.py
@@ -51,7 +51,6 @@ class CarState(CarStateBase, CarStateExt):
    ret.gasPressed = cp_party.vl["DI_systemStatus"]["DI_accelPedalPos"] > 0

    # Brake pedal
-    ret.brake = 0
    ret.brakePressed = cp_party.vl["ESP_status"]["ESP_driverBrakeApply"] == 2

    # Steering wheel
--- a/opendbc/car/tesla/values.py
+++ b/opendbc/car/tesla/values.py
@@ -1,7 +1,7 @@
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
-from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car.lateral import AngleSteeringLimitsVM
 from opendbc.car.structs import CarParams, CarState
 from opendbc.car.docs_definitions import CarDocs, CarFootnote, CarHarness, CarParts, Column, SupportType
 from opendbc.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
@@ -111,23 +111,10 @@ GEAR_MAP = {
 }


-# Add extra tolerance for average banked road since safety doesn't have the roll
-AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll lowers lateral acceleration
-
-
 class CarControllerParams:
-  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+  ANGLE_LIMITS: AngleSteeringLimitsVM = AngleSteeringLimitsVM(
    # EPAS faults above this angle
    360,  # deg
-    # Tesla uses a vehicle model instead, check carcontroller.py for details
-    ([], []),
-    ([], []),
-
-    # Vehicle model angle limits
-    # Add extra tolerance for average banked road since safety doesn't have the roll
-    MAX_LATERAL_ACCEL=ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^2
-    MAX_LATERAL_JERK=3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL),  # ~3.6 m/s^3
-
    # limit angle rate to both prevent a fault and for low speed comfort (~12 mph rate down to 0 mph)
    MAX_ANGLE_RATE=5,  # deg/20ms frame, EPS faults at 12 at a standstill
  )
--- a/opendbc/car/tests/car_diff.py
+++ b/opendbc/car/tests/car_diff.py
@@ -294,8 +294,11 @@ def main(platform: str | None = None, segments_per_platform: int = 10, update_re
  icon = "⚠️" if with_diffs else "✅"
  print(f"\n{icon}  {len(with_diffs)} changed, {n_passed} passed, {len(errors)} errors")

-  for plat, seg, err in errors:
-    print(f"\nERROR {plat} - {seg}: {err}")
+  if errors:
+    print("<details><summary><b>Show errors</b></summary>\n\n```")
+    for err in dict.fromkeys(err for _, _, err in errors):
+      print(f"\n{err}")
+    print("```\n</details>")

  if with_diffs:
    print("<details><summary><b>Show changes</b></summary>\n\n```")
--- a/opendbc/car/tests/test_fw_fingerprint.py
+++ b/opendbc/car/tests/test_fw_fingerprint.py
@@ -232,7 +232,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
    return self.total_time / self.N

  def _assert_timing(self, avg_time, ref_time):
-    assert avg_time < ref_time + self.TOL
+    assert avg_time < ref_time + self.TOL, avg_time
    assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs."

  def test_startup_timing(self):
@@ -262,7 +262,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
        print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')

  def test_fw_query_timing(self):
-    total_ref_time = 7.4
+    total_ref_time = 8.2
    brand_ref_times = {
      'gm': 1.0,
      'body': 0.1,
@@ -271,7 +271,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
      'honda': 0.45,
      'hyundai': 0.65,
      'mazda': 0.1,
-      'nissan': 0.8,
+      'nissan': 1.6,
      'subaru': 0.65,
      'tesla': 0.1,
      'toyota': 0.7,
--- a/opendbc/car/toyota/carstate.py
+++ b/opendbc/car/toyota/carstate.py
@@ -95,6 +95,9 @@ class CarState(CarStateBase, CarStateExt):

    ret.standstill = abs(ret.vEgoRaw) < 1e-3

+    ret.vehicleSensorsInvalid = any(cp.vl["WHEEL_SPEEDS"][f"WHEEL_SPEED_{whl}_FAULT"]
+                                    for whl in ("FL", "FR", "RL", "RR"))
+
    ret.steeringAngleDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_ANGLE"] + cp.vl["STEER_ANGLE_SENSOR"]["STEER_FRACTION"]
    ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]
    torque_sensor_angle_deg = cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"]
@@ -131,7 +134,8 @@ class CarState(CarStateBase, CarStateExt):

      # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
      # the more accurate angle sensor signal is initialized
-      ret.vehicleSensorsInvalid = not self.accurate_steer_angle_seen
+      if not self.accurate_steer_angle_seen:
+        ret.vehicleSensorsInvalid = True

    if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
      # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
--- a/opendbc/car/vin.py
+++ b/opendbc/car/vin.py
@@ -65,7 +65,7 @@ def get_vin(can_recv, can_send, buses, timeout=0.1, retry=2):
              if vin.startswith(b'\x11'):
                vin = vin[1:18]

-              carlog.error(f"got vin with {request=}")
+              carlog.error(f"got vin with {request=}, {bus=}")
              return uds.get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
        except Exception:
          carlog.exception("VIN query exception")
--- a/opendbc/car/volkswagen/carstate.py
+++ b/opendbc/car/volkswagen/carstate.py
@@ -81,7 +81,6 @@ class CarState(CarStateBase):
      if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
        ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0  # EA

-      ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
      brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
      brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
      ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
@@ -160,7 +159,6 @@ class CarState(CarStateBase):

    # Update gas, brakes, and gearshift.
    ret.gasPressed = pt_cp.vl["Motor_3"]["MO3_Pedalwert"] > 0
-    ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
    ret.brakePressed = bool(pt_cp.vl["Motor_2"]["MO2_BLS"])
    ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])

@@ -256,7 +254,6 @@ class CarState(CarStateBase):

    self.parse_mlb_mqb_steering_state(ret, pt_cp)

-    ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0
    brake_pedal_pressed = bool(pt_cp.vl["Motor_03"]["MO_Fahrer_bremst"])
    brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
    ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
--- a/opendbc/dbc/generator/hyundai/hyundai_can.dbc
+++ b/opendbc/dbc/generator/hyundai/hyundai_can.dbc
--- a/opendbc/dbc/generator/nissan/_nissan_common.dbc
+++ b/opendbc/dbc/generator/nissan/_nissan_common.dbc
@@ -15,6 +15,7 @@ BO_ 361 LKAS: 8 XXX

 BO_ 389 STEER_TORQUE_SENSOR: 8 XXX
 SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_STATUS : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX
 SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX
 SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX
@@ -25,6 +26,9 @@ BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX
 SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX
 SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX

+BO_ 658 ACCEL: 8 XXX
+ SG_ ROUGH_ACCEL : 7|16@0+ (0.0005,-16.5) [-16.5|16.27] "m/s^2" XXX
+
 BO_ 689 PROPILOT_HUD: 8 XXX
 SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX
 SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX
@@ -109,6 +113,8 @@ BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX
 BO_ 1227 LKAS_SETTINGS: 8 XXX
 SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX

+CM_ SG_ 389 LKAS_STATUS "EPS LKAS state. Encoded as two redundant 2-bit halves (each always 0b01 or 0b10).";
+VAL_ 389 LKAS_STATUS 5 "INACTIVE" 6 "ACTIVE" 9 "FAULT" ;
 VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ;
 VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ;
 VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISTANCE_3" ;
--- a/opendbc/dbc/generator/toyota/_toyota_2017.dbc
+++ b/opendbc/dbc/generator/toyota/_toyota_2017.dbc
@@ -65,10 +65,14 @@ BO_ 166 BRAKE: 8 XXX
 SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX

 BO_ 170 WHEEL_SPEEDS: 8 XXX
- SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
- SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
- SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
- SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+ SG_ WHEEL_SPEED_FR_FAULT : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ WHEEL_SPEED_FR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ WHEEL_SPEED_FL_FAULT : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ WHEEL_SPEED_FL : 22|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ WHEEL_SPEED_RR_FAULT : 39|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ WHEEL_SPEED_RR : 38|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS
+ SG_ WHEEL_SPEED_RL_FAULT : 55|1@0+ (1,0) [0|0] "" AFS,FCM,MAV
+ SG_ WHEEL_SPEED_RL : 54|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS

 BO_ 180 SPEED: 8 XXX
 SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
@@ -84,6 +88,21 @@ BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
 BO_ 353 DSU_SPEED: 7 XXX
 SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX

+BO_ 426 VSC1F02: 6 CGW
+ SG_ VXFRF : 7|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXFRIGS : 6|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXFRHDS : 5|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VXFLF : 2|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXFLIGS : 1|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXFLHDS : 0|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VXRRF : 13|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXRRIGS : 12|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXRRHDS : 11|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VXRLF : 8|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV
+ SG_ VXRLIGS : 23|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV
+ SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS
+ SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV
+
 BO_ 452 ENGINE_RPM: 8 CGW
 SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS
 SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX
--- a/opendbc/safety/ignition.h
+++ b/opendbc/safety/ignition.h
@@ -0,0 +1,77 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "opendbc/safety/can.h"
+
+bool ignition_can = false;
+uint32_t ignition_can_cnt = 0U;
+
+void ignition_can_hook(const CANPacket_t *msg) {
+  if (msg->bus == 0U) {
+    int len = GET_LEN(msg);
+
+    // GM exception
+    if ((msg->addr == 0x1F1U) && (len == 8)) {
+      // SystemPowerMode (2=Run, 3=Crank Request)
+      ignition_can = (msg->data[0] & 0x2U) != 0U;
+      ignition_can_cnt = 0U;
+    }
+
+    // Rivian R1S/T GEN1 exception
+    if ((msg->addr == 0x152U) && (len == 8)) {
+      // 0x152 overlaps with Subaru pre-global which has this bit as the high beam
+      int counter = msg->data[1] & 0xFU;  // max is only 14
+
+      static int prev_counter_rivian = -1;
+      if ((counter == ((prev_counter_rivian + 1) % 15)) && (prev_counter_rivian != -1)) {
+        // VDM_OutputSignals->VDM_EpasPowerMode
+        ignition_can = ((msg->data[7] >> 4U) & 0x3U) == 1U;  // VDM_EpasPowerMode_Drive_On=1
+        ignition_can_cnt = 0U;
+      }
+      prev_counter_rivian = counter;
+    }
+
+    // Tesla Model 3/Y exception
+    if ((msg->addr == 0x221U) && (len == 8)) {
+      // 0x221 overlaps with Rivian which has random data on byte 0
+      int counter = msg->data[6] >> 4;
+
+      static int prev_counter_tesla = -1;
+      if ((counter == ((prev_counter_tesla + 1) % 16)) && (prev_counter_tesla != -1)) {
+        // VCFRONT_LVPowerState->VCFRONT_vehiclePowerState
+        int power_state = (msg->data[0] >> 5U) & 0x3U;
+        ignition_can = power_state == 0x3;  // VEHICLE_POWER_STATE_DRIVE=3
+        ignition_can_cnt = 0U;
+      }
+      prev_counter_tesla = counter;
+    }
+
+    // Mazda exception
+    if ((msg->addr == 0x9EU) && (len == 8)) {
+      ignition_can = (msg->data[0] >> 5) == 0x6U;
+      ignition_can_cnt = 0U;
+    }
+
+    // Volkswagen MEB exception
+    if ((msg->addr == 0x3C0U) && (len == 4)) {
+      int counter = msg->data[1] & 0xFU;
+
+      static int prev_counter_vw_meb = -1;
+      if ((counter == ((prev_counter_vw_meb + 1) % 16)) && (prev_counter_vw_meb != -1)) {
+        // Klemmen_Status_01->ZAS_Kl_15
+        ignition_can = ((msg->data[2] >> 1) & 1U) != 0U;
+        ignition_can_cnt = 0U;
+      }
+      prev_counter_vw_meb = counter;
+    }
+  }
+
+  // TODO: this is too loose, Teslas have 0x222
+  // body v2 exception
+  // if (((msg->bus == 0U) || (msg->bus == 2U)) && (msg->addr == 0x222U)) {
+  //   ignition_can = true;
+  //   ignition_can_cnt = 0U;
+  // }
+}
--- a/opendbc/safety/modes/nissan.h
+++ b/opendbc/safety/modes/nissan.h
@@ -2,39 +2,53 @@

 #include "opendbc/safety/declarations.h"

-#define NISSAN_COMMON_RX_CHECKS                                                                                                                 \
-  {.msg = {{0x2, 0, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                     \
-           {0x2, 1, 5, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}},  /* STEER_ANGLE_SENSOR */  \
-  {.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                    \
-           {0x285, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* WHEEL_SPEEDS_REAR */   \
-  {.msg = {{0x30f, 2, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                    \
-           {0x30f, 1, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* CRUISE_STATE */        \
-  {.msg = {{0x15c, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                    \
-           {0x15c, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                    \
-           {0x239, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* GAS_PEDAL */                  \
-  {.msg = {{0x454, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                    \
-           {0x454, 1, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                    \
-           {0x1cc, 0, 4, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* DOORS_LIGHTS / BRAKE */      \
+#define NISSAN_COMMON_RX_CHECKS                                                                                                                           \
+  {.msg = {{0x185, 0, 8, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  /* STEER_TORQUE_SENSOR */  \
+  {.msg = {{0x285, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                              \
+           {0x285, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* WHEEL_SPEEDS_REAR */             \
+  {.msg = {{0x30f, 2, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                              \
+           {0x30f, 1, 3, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }}}, /* CRUISE_STATE */                  \
+  {.msg = {{0x15c, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                              \
+           {0x15c, 1, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                              \
+           {0x239, 0, 8, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* GAS_PEDAL */                            \
+  {.msg = {{0x454, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                              \
+           {0x454, 1, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true},                                              \
+           {0x1cc, 0, 4, 100U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}}}, /* DOORS_LIGHTS / BRAKE */                \

 #define NISSAN_PRO_PILOT_RX_CHECKS(alt_eps_bus)                                                                                                      \
  {.msg = {{0x1B6, alt_eps_bus, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \

 static bool nissan_alt_eps = false;

+static const AngleSteeringLimits NISSAN_STEERING_LIMITS = {
+  .max_angle = 60000,  // 600 deg, reasonable limit
+  .angle_deg_to_can = 100,
+  .angle_rate_up_lookup = {
+    {0., 5., 15.},
+    {5., .8, .15}
+  },
+  .angle_rate_down_lookup = {
+    {0., 5., 15.},
+    {5., 3.5, .4}
+  },
+};
+
 static void nissan_rx_hook(const CANPacket_t *msg) {

-  if (msg->bus == (nissan_alt_eps ? 1U : 0U)) {
-    if (msg->addr == 0x2U) {
+  // Altima: on camera bus, others: on pt bus
+  if (msg->bus == 0U) {
+    if (msg->addr == 0x185U) {
      // Current steering angle
-      // Factor -0.1, little endian
-      int angle_meas_new = (GET_BYTES(msg, 0, 4) & 0xFFFFU);
-      // Multiply by -10 to match scale of LKAS angle
-      angle_meas_new = to_signed(angle_meas_new, 16) * -10;
+      int angle_meas_new = (msg->data[2] << 10) | (msg->data[3] << 2) | (msg->data[4] >> 6);
+      // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale
+      angle_meas_new = -angle_meas_new + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can);

      // update array of samples
      update_sample(&angle_meas, angle_meas_new);
    }
+  }

+  if (msg->bus == (nissan_alt_eps ? 1U : 0U)) {
    if (msg->addr == 0x285U) {
      // Get current speed and standstill
      uint16_t right_rear = (msg->data[0] << 8) | (msg->data[1]);
@@ -79,19 +93,6 @@ static void nissan_rx_hook(const CANPacket_t *msg) {


 static bool nissan_tx_hook(const CANPacket_t *msg) {
-  const AngleSteeringLimits NISSAN_STEERING_LIMITS = {
-    .max_angle = 60000,  // 600 deg, reasonable limit
-    .angle_deg_to_can = 100,
-    .angle_rate_up_lookup = {
-      {0., 5., 15.},
-      {5., .8, .15}
-    },
-    .angle_rate_down_lookup = {
-      {0., 5., 15.},
-      {5., 3.5, .4}
-    },
-  };
-
  bool tx = true;
  bool violation = false;

--- a/opendbc/safety/modes/toyota.h
+++ b/opendbc/safety/modes/toyota.h
@@ -37,8 +37,8 @@
  {0x183, 0, 8, .check_relay = true},  /* ACC_CONTROL_2 */ \

 #define TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                       \
-  {.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}},  \
-  {.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}},                           \
+  {.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true}, { 0 }, { 0 }}},      \
+  {.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}},  \

 #define TOYOTA_RX_CHECKS(lta)                                                                                                               \
  TOYOTA_COMMON_RX_CHECKS(lta)                                                                                                              \
@@ -86,7 +86,21 @@ static uint32_t toyota_get_checksum(const CANPacket_t *msg) {
 }

 static bool toyota_get_quality_flag_valid(const CANPacket_t *msg) {
-  return !GET_BIT(msg, 3U);  // STEER_ANGLE_INITIALIZING
+  bool valid = false;
+  if (msg->addr == 0x260U) {
+    valid = !GET_BIT(msg, 3U);  // STEER_TORQUE_SENSOR.STEER_ANGLE_INITIALIZING
+  } else if (msg->addr == 0xaaU) {  // WHEEL_SPEEDS
+    // each wheel speed is 1-bit fault + 15-bit speed
+    valid = true;
+    for (uint8_t i = 0U; i < 4U; i += 1U) {
+      if (GET_BIT(msg, (i * 16U) + 7U)) {  // WHEEL_SPEED_xx_FAULT
+        valid = false;
+        break;
+      }
+    }
+  } else {
+  }
+  return valid;
 }

 static int TOYOTA_GET_INTERCEPTOR(const CANPacket_t *msg) {
@@ -166,7 +180,7 @@ static void toyota_rx_hook(const CANPacket_t *msg) {
      int speed = 0;
      // sum 4 wheel speeds. conversion: raw * 0.01 - 67.67
      for (uint8_t i = 0U; i < 8U; i += 2U) {
-        int wheel_speed = (msg->data[i] << 8U) | msg->data[(i + 1U)];
+        int wheel_speed = ((msg->data[i] & 0x7FU) << 8U) | msg->data[(i + 1U)];
        speed += wheel_speed - 6767;
      }
      // check that all wheel speeds are at zero value
--- a/opendbc/safety/safety.h
+++ b/opendbc/safety/safety.h
@@ -322,7 +322,8 @@ void safety_tick(const safety_config *cfg) {
      // lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep.
      // Quite conservative to not risk false triggers.
      // 2s of lag is worse case, since the function is called at 1Hz
-      uint32_t timestep = 1e6 / cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].frequency;
+      uint32_t frequency = cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].frequency;
+      uint32_t timestep = 1e6 / frequency;
      bool lagging = elapsed_time > SAFETY_MAX(timestep * MAX_MISSED_MSGS, 1e6);
      cfg->rx_checks[i].status.lagging = lagging;
      if (lagging) {
@@ -330,8 +331,11 @@ void safety_tick(const safety_config *cfg) {
        mads_exit_controls(MADS_DISENGAGE_REASON_LAG);
      }

-      if (lagging || !is_msg_valid(cfg->rx_checks, i)) {
+      // enforce minimum frequency for safety-relevant messages
+      bool frequency_invalid = frequency < 10U;
+      if (lagging || frequency_invalid || !is_msg_valid(cfg->rx_checks, i)) {
        rx_checks_invalid = true;
+        controls_allowed = false;
      }
    }
  }
--- a/opendbc/safety/tests/libsafety/libsafety_py.py
+++ b/opendbc/safety/tests/libsafety/libsafety_py.py
@@ -111,6 +111,10 @@ int get_honda_hw(void);
 void mutation_set_active_mutant(int id);
 int mutation_get_active_mutant(void);

+void ignition_can_hook(const CANPacket_t *msg);
+bool get_ignition_can(void);
+void set_ignition_can(bool c);
+
 bool get_controls_allowed_lateral(void);
 bool get_controls_requested_lateral(void);
 void set_current_safety_param_sp(uint16_t param);
--- a/opendbc/safety/tests/libsafety/safety.c
+++ b/opendbc/safety/tests/libsafety/safety.c
@@ -11,6 +11,7 @@ uint32_t microsecond_timer_get(void) {

 #include "opendbc/safety/can.h"
 #include "opendbc/safety/safety.h"
+#include "opendbc/safety/ignition.h"

 void safety_tick_current_safety_config() {
  safety_tick(&current_safety_config);
@@ -53,10 +54,18 @@ void set_relay_malfunction(bool c){
  relay_malfunction = c;
 }

+void set_ignition_can(bool c){
+  ignition_can = c;
+}
+
 bool get_controls_allowed(void){
  return controls_allowed;
 }

+bool get_ignition_can(void){
+  return ignition_can;
+}
+
 int get_alternative_experience(void){
  return alternative_experience;
 }
@@ -303,6 +312,9 @@ void init_tests(void){
  // assumes autopark on safety mode init to avoid a fault. get rid of that for testing
  tesla_autopark = false;

+  ignition_can = false;
+  ignition_can_cnt = 0U;
+
  // reset MADS state to prevent leaking between tests
  mads_set_system_state(false, false, false);
  mads_button_press = MADS_BUTTON_UNAVAILABLE;
--- a/opendbc/safety/tests/test_gm.py
+++ b/opendbc/safety/tests/test_gm.py
@@ -249,5 +249,28 @@ class TestGmCameraEVNonACCSafety(TestGmCameraNonACCSafety, TestGmEVSafetyBase):
  pass


+class TestGmIgnition(unittest.TestCase):
+  TX_MSGS: list = []
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.init_tests()
+    self.packer = CANPackerSafety("gm_global_a_powertrain_generated")
+
+  def _msg(self, mode):
+    return self.packer.make_can_msg_safety("BCMGeneralPlatformStatus", 0, {"SystemPowerMode": mode})
+
+  # SystemPowerMode 2=Run, 3=Crank Request
+  def test_ignition_on(self):
+    self.safety.ignition_can_hook(self._msg(2))
+    self.assertTrue(self.safety.get_ignition_can())
+
+  def test_ignition_off(self):
+    self.safety.ignition_can_hook(self._msg(2))
+    self.assertTrue(self.safety.get_ignition_can())
+    self.safety.ignition_can_hook(self._msg(0))
+    self.assertFalse(self.safety.get_ignition_can())
+
+
 if __name__ == "__main__":
  unittest.main()
--- a/opendbc/safety/tests/test_hyundai.py
+++ b/opendbc/safety/tests/test_hyundai.py
@@ -102,7 +102,7 @@ class TestHyundaiSafety(HyundaiButtonBase, common.CarSafetyTest, common.DriverTo
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
@@ -239,7 +239,7 @@ class TestHyundaiSafetyAltLimits(TestHyundaiSafety):
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS)
@@ -259,7 +259,7 @@ class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.ALT_LIMITS_2)
@@ -278,7 +278,7 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.CAMERA_SCC)
@@ -305,7 +305,7 @@ class TestHyundaiSafetyFCEV(TestHyundaiSafety):
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS)
@@ -318,7 +318,7 @@ class TestHyundaiSafetyFCEV(TestHyundaiSafety):

 class TestHyundaiLegacySafety(TestHyundaiSafety):
  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, 0)
    self.safety.init_tests()
@@ -326,7 +326,7 @@ class TestHyundaiLegacySafety(TestHyundaiSafety):

 class TestHyundaiLegacySafetyEV(TestHyundaiSafety):
  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.EV_GAS)
    self.safety.init_tests()
@@ -338,7 +338,7 @@ class TestHyundaiLegacySafetyEV(TestHyundaiSafety):

 class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiLegacy, HyundaiSafetyFlags.HYBRID_GAS)
    self.safety.init_tests()
@@ -366,7 +366,7 @@ class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
@@ -414,7 +414,7 @@ class TestHyundaiLongitudinalSafetyCameraSCC(HyundaiLongitudinalBase, TestHyunda
  RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x485, 0x421, 0x420, 0x50A, 0x389)}  # LKAS11, LFAHDA_MFC, SCC12, SCC11, SCC13, SCC14

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.HAS_LDA_BUTTON)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CAMERA_SCC)
@@ -454,7 +454,7 @@ class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafety
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.FCEV_GAS | HyundaiSafetyFlags.LONG)
@@ -475,7 +475,7 @@ class TestHyundaiLongitudinalESCCSafety(HyundaiLongitudinalBase, TestHyundaiSafe
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.ESCC | self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG)
@@ -509,7 +509,7 @@ class TestHyundaiNonSCCSafety(TestHyundaiSafety):
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.NON_SCC | self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, 0)
@@ -565,7 +565,7 @@ class TestHyundaiNonSCCSafety_HEV_EV(TestHyundaiSafety):
      raise unittest.SkipTest

  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.packer = CANPackerSafety("hyundai_can_generated")
    self.safety = libsafety_py.libsafety
    self.safety.set_current_safety_param_sp(HyundaiSafetyFlagsSP.NON_SCC | self.SAFETY_PARAM_SP)
    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, self.SAFETY_PARAM)
--- a/opendbc/safety/tests/test_mazda.py
+++ b/opendbc/safety/tests/test_mazda.py
@@ -4,7 +4,7 @@ import unittest
 from opendbc.car.structs import CarParams
 from opendbc.safety.tests.libsafety import libsafety_py
 import opendbc.safety.tests.common as common
-from opendbc.safety.tests.common import CANPackerSafety
+from opendbc.safety.tests.common import CANPackerSafety, make_msg


 class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
@@ -81,5 +81,27 @@ class TestMazdaSafety(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTes
    self.assertTrue(self._tx(self._button_msg(resume=True)))


+class TestMazdaIgnition(unittest.TestCase):
+  TX_MSGS: list = []
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.init_tests()
+
+  def _msg(self, byte0):
+    return make_msg(0, 0x9E, dat=bytes([byte0]) + b"\x00" * 7)
+
+  # 0x9E byte 0 high 3 bits == 6 (0xC0)
+  def test_ignition_on(self):
+    self.safety.ignition_can_hook(self._msg(0xC0))
+    self.assertTrue(self.safety.get_ignition_can())
+
+  def test_ignition_off(self):
+    self.safety.ignition_can_hook(self._msg(0xC0))
+    self.assertTrue(self.safety.get_ignition_can())
+    self.safety.ignition_can_hook(self._msg(0x20))
+    self.assertFalse(self.safety.get_ignition_can())
+
+
 if __name__ == "__main__":
  unittest.main()
--- a/opendbc/safety/tests/test_nissan.py
+++ b/opendbc/safety/tests/test_nissan.py
@@ -40,7 +40,7 @@ class TestNissanSafety(common.CarSafetyTest, common.AngleSteeringSafetyTest):

  def _angle_meas_msg(self, angle: float):
    values = {"STEER_ANGLE": angle}
-    return self.packer.make_can_msg_safety("STEER_ANGLE_SENSOR", self.EPS_BUS, values)
+    return self.packer.make_can_msg_safety("STEER_TORQUE_SENSOR", 0, values)

  def _pcm_status_msg(self, enable):
    values = {"CRUISE_ENABLED": enable}
--- a/opendbc/safety/tests/test_rivian.py
+++ b/opendbc/safety/tests/test_rivian.py
@@ -142,5 +142,36 @@ class TestRivianLongitudinalSafety(TestRivianSafetyBase):
    self.safety.init_tests()


+class TestRivianIgnition(unittest.TestCase):
+  TX_MSGS: list = []
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.init_tests()
+    self.packer = CANPackerSafety("rivian_primary_actuator")
+
+  def _msg(self, counter, mode):
+    return self.packer.make_can_msg_safety("VDM_OutputSignals", 0,
+                                           {"VDM_OutputSigs_Counter": counter,
+                                            "VDM_EpasPowerMode": mode})
+
+  # VDM_EpasPowerMode_Drive_On=1
+  def test_ignition_on(self):
+    for i in range(15):
+      self.safety.init_tests()
+      self.safety.ignition_can_hook(self._msg(i, 1))
+      self.assertFalse(self.safety.get_ignition_can())
+      self.safety.ignition_can_hook(self._msg((i + 1) % 15, 1))
+      self.assertTrue(self.safety.get_ignition_can())
+
+  def test_ignition_off(self):
+    self.safety.ignition_can_hook(self._msg(0, 1))
+    self.safety.ignition_can_hook(self._msg(1, 1))
+    self.assertTrue(self.safety.get_ignition_can())
+    self.safety.ignition_can_hook(self._msg(2, 0))
+    self.safety.ignition_can_hook(self._msg(3, 0))
+    self.assertFalse(self.safety.get_ignition_can())
+
+
 if __name__ == "__main__":
  unittest.main()
--- a/opendbc/safety/tests/test_tesla.py
+++ b/opendbc/safety/tests/test_tesla.py
@@ -459,6 +459,37 @@ class TestTeslaFSD14LongitudinalSafety(TestTeslaLongitudinalSafety):
  SAFETY_PARAM = TeslaSafetyFlags.LONG_CONTROL | TeslaSafetyFlags.FSD_14


+class TestTeslaIgnition(unittest.TestCase):
+  TX_MSGS: list = []
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.init_tests()
+    self.packer = CANPackerSafety("tesla_model3_party")
+
+  def _msg(self, counter, state):
+    return self.packer.make_can_msg_safety("VCFRONT_LVPowerState", 0,
+                                           {"VCFRONT_LVPowerStateCounter": counter,
+                                            "VCFRONT_vehiclePowerState": state})
+
+  # VEHICLE_POWER_STATE_DRIVE=3 (counter-gated)
+  def test_ignition_on(self):
+    for i in range(16):
+      self.safety.init_tests()
+      self.safety.ignition_can_hook(self._msg(i, 3))
+      self.assertFalse(self.safety.get_ignition_can())
+      self.safety.ignition_can_hook(self._msg((i + 1) % 16, 3))
+      self.assertTrue(self.safety.get_ignition_can())
+
+  def test_ignition_off(self):
+    self.safety.ignition_can_hook(self._msg(0, 3))
+    self.safety.ignition_can_hook(self._msg(1, 3))
+    self.assertTrue(self.safety.get_ignition_can())
+    self.safety.ignition_can_hook(self._msg(2, 2))
+    self.safety.ignition_can_hook(self._msg(3, 2))
+    self.assertFalse(self.safety.get_ignition_can())
+
+
 class TestTeslaVehicleBusSafety(TestTeslaSafetyBase):

  LONGITUDINAL = False
--- a/opendbc/safety/tests/test_toyota.py
+++ b/opendbc/safety/tests/test_toyota.py
@@ -70,8 +70,10 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
  def _accel_msg(self, accel, cancel_req=0):
    return self._accel_msg_343(accel, cancel_req)

-  def _speed_msg(self, speed):
+  def _speed_msg(self, speed, quality_flag=True):
    values = {("WHEEL_SPEED_%s" % n): speed * 3.6 for n in ["FR", "FL", "RR", "RL"]}
+    if not quality_flag:
+      values |= {"WHEEL_SPEED_%s_FAULT" % n: 1.0 for n in ["FR", "FL", "RR", "RL"]}
    return self.packer.make_can_msg_safety("WHEEL_SPEEDS", 0, values)

  def _user_brake_msg(self, brake):
@@ -138,6 +140,18 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
      self.assertFalse(self._rx(msg))
      self.assertFalse(self.safety.get_controls_allowed())

+    # quality flag tests
+    msg = self._speed_msg(0)
+    self.assertTrue(self._rx(msg))
+
+    msg = self._speed_msg(0, quality_flag=False)
+    self.assertFalse(self._rx(msg))
+
+  def test_vehicle_speed_measurements(self):
+    # OVERRIDDEN: 72.22_ is the max speed in m/s
+    self._common_measurement_test(self._speed_msg, 0, 259 / 3.6, 1,
+                                  self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max)
+

 class TestToyotaSafetyGasInterceptorBase(GasInterceptorSafetyTest, TestToyotaSafetyBase):

--- a/opendbc/safety/tests/test_volkswagen_meb.py
+++ b/opendbc/safety/tests/test_volkswagen_meb.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+import unittest
+
+from opendbc.safety.tests.libsafety import libsafety_py
+from opendbc.safety.tests.common import CANPackerSafety
+
+
+class TestVolkswagenMebIgnition(unittest.TestCase):
+  TX_MSGS: list = []
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.safety.init_tests()
+    self.packer = CANPackerSafety("vw_meb")
+
+  def _msg(self, counter, ign):
+    return self.packer.make_can_msg_safety("Klemmen_Status_01", 0,
+                                           {"Klemmen_Status_01_BZ": counter,
+                                            "ZAS_Kl_15": ign})
+
+  # ZAS_Kl_15=1
+  def test_ignition_on(self):
+    for i in range(16):
+      self.safety.init_tests()
+      self.safety.ignition_can_hook(self._msg(i, 1))
+      self.assertFalse(self.safety.get_ignition_can())
+      self.safety.ignition_can_hook(self._msg((i + 1) % 16, 1))
+      self.assertTrue(self.safety.get_ignition_can())
+
+  def test_ignition_off(self):
+    self.safety.ignition_can_hook(self._msg(0, 1))
+    self.safety.ignition_can_hook(self._msg(1, 1))
+    self.assertTrue(self.safety.get_ignition_can())
+    self.safety.ignition_can_hook(self._msg(2, 0))
+    self.safety.ignition_can_hook(self._msg(3, 0))
+    self.assertFalse(self.safety.get_ignition_can())
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/opendbc/sunnypilot/car/car_list.json
+++ b/opendbc/sunnypilot/car/car_list.json
@@ -656,23 +656,31 @@
    ],
    "package": "Co-Pilot360 Assist 2.0"
  },
-  "Ford Focus 2018": {
+  "Ford Focus 2018-22": {
    "platform": "FORD_FOCUS_MK4",
    "make": "Ford",
    "brand": "ford",
    "model": "Focus",
    "year": [
-      "2018"
+      "2018",
+      "2019",
+      "2020",
+      "2021",
+      "2022"
    ],
    "package": "Adaptive Cruise Control with Lane Centering"
  },
-  "Ford Focus Hybrid 2018": {
+  "Ford Focus Hybrid 2018-22": {
    "platform": "FORD_FOCUS_MK4",
    "make": "Ford",
    "brand": "ford",
    "model": "Focus Hybrid",
    "year": [
-      "2018"
+      "2018",
+      "2019",
+      "2020",
+      "2021",
+      "2022"
    ],
    "package": "Adaptive Cruise Control with Lane Centering"
  },
@@ -1606,6 +1614,17 @@
    ],
    "package": "Highway Driving Assist II"
  },
+  "Hyundai Ioniq 6 (without HDA II) 2023-24": {
+    "platform": "HYUNDAI_IONIQ_6",
+    "make": "Hyundai",
+    "brand": "hyundai",
+    "model": "Ioniq 6 (without HDA II)",
+    "year": [
+      "2023",
+      "2024"
+    ],
+    "package": "Highway Driving Assist"
+  },
  "Hyundai Ioniq Electric 2019": {
    "platform": "HYUNDAI_IONIQ_EV_LTD",
    "make": "Hyundai",
@@ -2789,7 +2808,7 @@
    ],
    "package": "All"
  },
-  "Nissan Altima 2019-20, 2024": {
+  "Nissan Altima 2019-24": {
    "platform": "NISSAN_ALTIMA",
    "make": "Nissan",
    "brand": "nissan",
@@ -2797,6 +2816,9 @@
    "year": [
      "2019",
      "2020",
+      "2021",
+      "2022",
+      "2023",
      "2024"
    ],
    "package": "ProPILOT Assist"
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ urls = { "homepage" = "https://github.com/commaai/opendbc" }
 dependencies = [
  "numpy",
  "tqdm",
-  "pycapnp==2.1.0",
+  "pycapnp",
  "pycryptodome",
 ]

--- a/uv.lock
+++ b/uv.lock
@@ -13,11 +13,11 @@ wheels = [

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+version = "2026.4.22"
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+sdist = { url = "https://files.pythonhosted.org/packages/25/ee/6caf7a40c36a1220410afe15a1cc64993a1f864871f698c0f93acb72842a/certifi-2026.4.22.tar.gz", hash = "sha256:8d455352a37b71bf76a79caa83a3d6c25afee4a385d632127b6afb3963f1c580", size = 137077, upload-time = "2026-04-22T11:26:11.191Z" }
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+    { url = "https://files.pythonhosted.org/packages/22/30/7cd8fdcdfbc5b869528b079bfb76dcdf6056b1a2097a662e5e8c04f42965/certifi-2026.4.22-py3-none-any.whl", hash = "sha256:3cb2210c8f88ba2318d29b0388d1023c8492ff72ecdde4ebdaddbb13a31b1c4a", size = 135707, upload-time = "2026-04-22T11:26:09.372Z" },
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 [[package]]
@@ -143,47 +143,47 @@ requires-dist = [{ name = "requests" }]

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    { name = "numpy" },
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    { name = "tqdm" },
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