diff --git a/.github/workflows/build-all-tinygrad-models.yaml b/.github/workflows/build-all-tinygrad-models.yaml
index 8b86c6b04..1c7812ee4 100644
--- a/.github/workflows/build-all-tinygrad-models.yaml
+++ b/.github/workflows/build-all-tinygrad-models.yaml
@@ -127,7 +127,7 @@ jobs:
   retry_failed_models:
     needs: [setup, get_and_build]
     runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && (failure() && !cancelled()) }}
+    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
     outputs:
       retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
     steps:
diff --git a/RELEASES.md b/RELEASES.md
index 584be9d67..1e8075345 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,6 @@
+Version 0.10.1 (2025-09-08)
+========================
+
 Version 0.10.0 (2025-08-05)
 ========================
 * New driving model
diff --git a/common/model.h b/common/model.h
index 90e809671..a60b33c4c 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Space Lab 2 (Default)"
+#define DEFAULT_MODEL "Down To Ride (Default)"
diff --git a/common/params_keys.h b/common/params_keys.h
index f5fb8ca54..2d7cdee78 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -156,6 +156,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
     {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
     {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
     {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
diff --git a/common/pid.py b/common/pid.py
index f2ab935f4..721a7c9d6 100644
--- a/common/pid.py
+++ b/common/pid.py
@@ -17,7 +17,6 @@ class PIDController:
     self.pos_limit = pos_limit
     self.neg_limit = neg_limit
 
-    self.i_unwind_rate = 0.3 / rate
     self.i_rate = 1.0 / rate
     self.speed = 0.0
 
@@ -35,10 +34,6 @@ class PIDController:
   def k_d(self):
     return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
-  @property
-  def error_integral(self):
-    return self.i/self.k_i
-
   def reset(self):
     self.p = 0.0
     self.i = 0.0
@@ -46,25 +41,21 @@ class PIDController:
     self.f = 0.0
     self.control = 0
 
-  def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
+  def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
     self.speed = speed
-
     self.p = float(error) * self.k_p
     self.f = feedforward * self.k_f
     self.d = error_rate * self.k_d
 
-    if override:
-      self.i -= self.i_unwind_rate * float(np.sign(self.i))
-    else:
-      if not freeze_integrator:
-        self.i = self.i + error * self.k_i * self.i_rate
+    if not freeze_integrator:
+      i = self.i + error * self.k_i * self.i_rate
 
-        # Clip i to prevent exceeding control limits
-        control_no_i = self.p + self.d + self.f
-        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+      # Don't allow windup if already clipping
+      test_control = self.p + i + self.d + self.f
+      i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
+      i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
+      self.i = np.clip(i, i_lowerbound, i_upperbound)
 
     control = self.p + self.i + self.d + self.f
-
     self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control
diff --git a/common/version.h b/common/version.h
index af827e20a..669f30321 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.0"
+#define COMMA_VERSION "0.10.1"
diff --git a/selfdrive/assets/icons/link.png b/selfdrive/assets/icons/link.png
new file mode 100644
index 000000000..8a795c05b
--- /dev/null
+++ b/selfdrive/assets/icons/link.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69514fe68dd1b4c73f28771640dcba10fc40989d1c7e771cb48bfd830fef206
+size 5713
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 033370c92..4f61ad3c3 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -439,9 +439,7 @@ class TestCarModelBase(unittest.TestCase):
         if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
-      # TODO: remove this exception before closing commaai/opendbc#1100
-      if not (self.CP.brand == "honda" and self.CP.flags & HondaFlags.BOSCH):
-        checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
       checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 
       if self.CP.pcmCruise:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index d2ff0568e..37c9734f2 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -56,7 +56,7 @@ class Controls(ControlsExt, ModelStateBase):
                                   poll='selfdriveState')
     self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
-    self.steer_limited_by_controls = False
+    self.steer_limited_by_safety = False
     self.curvature = 0.0
     self.curvature_no_roll = 0.0
     self.desired_curvature = 0.0
@@ -168,7 +168,7 @@ class Controls(ControlsExt, ModelStateBase):
     self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
 
     steer, steeringAngleDeg, curvature, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                                  self.steer_limited_by_controls, self.desired_curvature,
+                                                                  self.steer_limited_by_safety, self.desired_curvature,
                                                                   self.calibrated_pose, curvature_limited)  # TODO what if not available
     actuators.curvature = float(curvature) if self.enable_curvature_controller else self.desired_curvature
     actuators.torque = float(steer)
@@ -224,12 +224,12 @@ class Controls(ControlsExt, ModelStateBase):
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-        self.steer_limited_by_controls = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
+        self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                                               STEER_ANGLE_SATURATION_THRESHOLD
       elif self.CP.steerControlType == car.CarParams.SteerControlType.curvatureDEPRECATED:
-        self.steer_limited_by_controls = abs(CC.actuators.curvature - CO.actuatorsOutput.curvature) > CURVATURE_SATURATION_THRESHOLD
+        self.steer_limited_by_safety = abs(CC.actuators.curvature - CO.actuatorsOutput.curvature) > CURVATURE_SATURATION_THRESHOLD
       else:
-        self.steer_limited_by_controls = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
+        self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 1e438e8a3..f912bd154 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -16,15 +16,15 @@ class LatControl(ABC):
     self.curvature_max = 0.2
 
   @abstractmethod
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS, steer_limited_by_controls, curvature_limited):
+  def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
     # Saturated only if control output is not being limited by car torque/angle rate limits
-    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_controls and not CS.steeringPressed:
+    if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 2d7aee72f..206078bdf 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -3,6 +3,7 @@ import math
 from cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
+# TODO This is speed dependent
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
@@ -10,9 +11,9 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.sat_check_min_speed = 5.
-    self.use_steer_limited_by_controls = CP.brand == "tesla"
+    self.use_steer_limited_by_safety = CP.brand == "tesla"
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if not active:
@@ -23,9 +24,9 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    if self.use_steer_limited_by_controls:
+    if self.use_steer_limited_by_safety:
       # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
-      angle_control_saturated = steer_limited_by_controls
+      angle_control_saturated = steer_limited_by_safety
     else:
       # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
       # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index e6f12b593..22eaff789 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -13,11 +13,7 @@ class LatControlPID(LatControl):
                              k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.get_steer_feedforward = CI.get_steer_feedforward_function()
 
-  def reset(self):
-    super().reset()
-    self.pid.reset()
-
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -29,20 +25,24 @@ class LatControlPID(LatControl):
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
     if not active:
-      output_steer = 0.0
+      output_torque = 0.0
       pid_log.active = False
-      self.pid.reset()
+
     else:
       # offset does not contribute to resistive torque
-      steer_feedforward = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
+
+      output_torque = self.pid.update(error,
+                                feedforward=ff,
+                                speed=CS.vEgo,
+                                freeze_integrator=freeze_integrator)
 
-      output_steer = self.pid.update(error, override=CS.steeringPressed,
-                                     feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
       pid_log.p = float(self.pid.p)
       pid_log.i = float(self.pid.i)
       pid_log.f = float(self.pid.f)
-      pid_log.output = float(output_steer)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.output = float(output_torque)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
-    return output_steer, angle_steers_des, desired_curvature, pid_log
+    return output_torque, angle_steers_des, desired_curvature, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 46a9d4c68..d8fbc2c6f 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -41,7 +41,7 @@ class LatControlTorque(LatControl):
     self.torque_params.latAccelOffset = latAccelOffset
     self.torque_params.friction = friction
 
-  def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
+  def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, calibrated_pose, curvature_limited):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
     if not active:
       output_torque = 0.0
@@ -76,7 +76,7 @@ class LatControlTorque(LatControl):
                                           desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
                                           desired_curvature, actual_curvature)
 
-      freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -90,7 +90,7 @@ class LatControlTorque(LatControl):
       pid_log.output = float(-output_torque)
       pid_log.actualLateralAccel = float(actual_lateral_accel)
       pid_log.desiredLateralAccel = float(desired_lateral_accel)
-      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_controls, curvature_limited))
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, desired_curvature, pid_log
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 187a3b2ec..267fc92a3 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:22aec22a10ce09384d4a4af2a0bbff08d54af7e0c888503508f356fae4ff0e29
+oid sha256:1af87c38492444521632a0e75839b5684ee46bf255b3474773784bffb9fe4f57
 size 15583374
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index b89de2759..9e1c04873 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -94,15 +94,21 @@ class Parser:
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     self.parse_binary_crossentropy('lead_prob', outs)
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    if outs['lead'].shape[1] == 2 * ModelConstants.LEAD_MHP_SELECTION *ModelConstants.LEAD_TRAJ_LEN * ModelConstants.LEAD_WIDTH:
+      self.parse_mdn('lead', outs, in_N=0, out_N=0,
+                     out_shape=(ModelConstants.LEAD_MHP_SELECTION, ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    else:
+      self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     return outs
 
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
-    self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
-      out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    if 'lat_planner_solution' in outs:
-      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if outs['plan'].shape[1] == 2 * ModelConstants.IDX_N * ModelConstants.PLAN_WIDTH:
+      self.parse_mdn('plan', outs, in_N=0, out_N=0,
+                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
+    else:
+      self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
+                     out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 43f97e212..54ff18935 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-62b3e8590fe85f87494517b3177a0ccaad1e17e5
\ No newline at end of file
+543bd2347fa35f8300478a3893fdd0a03a7c1fe6
\ No newline at end of file
diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py
index a322f21e8..674e5005f 100644
--- a/selfdrive/ui/layouts/settings/settings.py
+++ b/selfdrive/ui/layouts/settings/settings.py
@@ -28,7 +28,7 @@ PANEL_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
 CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
 TEXT_NORMAL = rl.Color(128, 128, 128, 255)
-TEXT_SELECTED = rl.Color(255, 255, 255, 255)
+TEXT_SELECTED = rl.WHITE
 
 
 class PanelType(IntEnum):
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
index 6af947a10..cdbfa4c04 100644
--- a/selfdrive/ui/layouts/sidebar.py
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -24,18 +24,18 @@ NetworkType = log.DeviceState.NetworkType
 # Color scheme
 class Colors:
   SIDEBAR_BG = rl.Color(57, 57, 57, 255)
-  WHITE = rl.Color(255, 255, 255, 255)
+  WHITE = rl.WHITE
   WHITE_DIM = rl.Color(255, 255, 255, 85)
   GRAY = rl.Color(84, 84, 84, 255)
 
   # Status colors
-  GOOD = rl.Color(255, 255, 255, 255)
+  GOOD = rl.WHITE
   WARNING = rl.Color(218, 202, 37, 255)
   DANGER = rl.Color(201, 34, 49, 255)
 
   # UI elements
   METRIC_BORDER = rl.Color(255, 255, 255, 85)
-  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
+  BUTTON_NORMAL = rl.WHITE
   BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
 
 
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index 4ae713d9d..536d99338 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -34,7 +34,7 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.Color(255, 255, 255, 255)
+  white: rl.Color = rl.WHITE
   disengaged: rl.Color = rl.Color(145, 155, 149, 255)
   override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
   engaged: rl.Color = rl.Color(128, 216, 166, 255)
@@ -47,7 +47,7 @@ class Colors:
   white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
   border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
   header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
+  header_gradient_end: rl.Color = rl.BLANK
 
 
 UI_CONFIG = UIConfig()
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index d7e5e6c9d..72400bd94 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -29,6 +29,7 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(
   flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size());
   settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio);
   mic_img = loadPixmap("../assets/icons/microphone.png", QSize(30, 30));
+  link_img = loadPixmap("../assets/icons/link.png", QSize(60, 60));
 
   connect(this, &Sidebar::valueChanged, [=] { update(); });
 
@@ -154,7 +155,12 @@ void Sidebar::drawSidebar(QPainter &p) {
   p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(58, 247, width() - 100, 50);
-  p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
+
+  if (net_type == "Hotspot") {
+    p.drawPixmap(r.x(), r.y() + (r.height() - link_img.height()) / 2, link_img);
+  } else {
+    p.drawText(r, Qt::AlignLeft | Qt::AlignVCenter, net_type);
+  }
 
 #ifndef SUNNYPILOT
   // metrics
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 4f8409be1..30a92c972 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -43,7 +43,7 @@ protected:
   void drawMetric(QPainter &p, const QPair<QString, QString> &label, QColor c, int y);
   virtual void drawSidebar(QPainter &p);
 
-  QPixmap home_img, flag_img, settings_img, mic_img;
+  QPixmap home_img, flag_img, settings_img, mic_img, link_img;
   bool onroad, recording_audio, flag_pressed, settings_pressed, mic_indicator_pressed;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
     {cereal::DeviceState::NetworkType::NONE, tr("--")},
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 43ba7e037..7e3d18bd8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -211,7 +211,7 @@ void DevicePanelSP::updateState() {
   toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 
   QString timeoutValue = QString::fromStdString(params.get("InteractivityTimeout"));
-  if (timeoutValue == "0") {
+  if (timeoutValue == "0" || timeoutValue.isEmpty()) {
     interactivityTimeout->setLabel("Default");
   } else {
     interactivityTimeout->setLabel(timeoutValue + "s");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index 1358cbc95..3d4e07096 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -66,6 +66,14 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
   list->addItem(horizontal_line());
 
+  QString sunnylinkUploaderDesc = tr("Enable sunnylink uploader to allow sunnypilot to upload your driving data to sunnypilot servers. (only for highest tiers, and does NOT bring ANY benefit to you. We are just testing data volume.)");
+  sunnylinkUploaderEnabledBtn = new ParamControlSP(
+    "EnableSunnylinkUploader",
+    tr("[Don't use] Enable sunnylink uploader"),
+    sunnylinkUploaderDesc,
+    "", nullptr, true);
+  list->addItem(sunnylinkUploaderEnabledBtn);
+
   connect(sunnylinkEnabledBtn, &ParamControl::showDescriptionEvent, [=]() {
     // resets the description to the default one for the Easter egg
     sunnylinkEnabledBtn->setDescription(sunnylinkEnabledBtnDesc);
@@ -261,6 +269,8 @@ void SunnylinkPanel::updatePanel() {
   pairSponsorBtn->setEnabled(!is_onroad && is_sunnylink_enabled);
   pairSponsorBtn->setValue(is_paired ? tr("Paired") : tr("Not Paired"));
 
+  sunnylinkUploaderEnabledBtn->setEnabled(max_current_sponsor_rule.roleTier == SponsorTier::Guardian && is_sunnylink_enabled);
+
   if (!is_sunnylink_enabled) {
     sunnylinkEnabledBtn->setValue("");
     sponsorBtn->setValue("");
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
index e17c68d3a..c56d8ebd1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h
@@ -49,6 +49,7 @@ private:
   QString sunnylinkBtnDescription;
   PushButtonSP *restoreSettings;
   PushButtonSP *backupSettings;
+  ParamControlSP * sunnylinkUploaderEnabledBtn;
 
   void stopSunnylink() const;
   void startSunnylink() const;
diff --git a/selfdrive/ui/widgets/exp_mode_button.py b/selfdrive/ui/widgets/exp_mode_button.py
index 88664e0fa..961876895 100644
--- a/selfdrive/ui/widgets/exp_mode_button.py
+++ b/selfdrive/ui/widgets/exp_mode_button.py
@@ -37,7 +37,7 @@ class ExperimentalModeButton(Widget):
     self.params.put_bool("ExperimentalMode", self.experimental_mode)
 
   def _render(self, rect):
-    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.Color(255, 255, 255, 255))
+    rl.draw_rectangle_rounded(rect, 0.08, 20, rl.WHITE)
 
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._draw_gradient_background(rect)
@@ -53,7 +53,7 @@ class ExperimentalModeButton(Widget):
     text_x = rect.x + self.horizontal_padding
     text_y = rect.y + rect.height / 2 - 45 // 2  # Center vertically
 
-    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.Color(0, 0, 0, 255))
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), text, rl.Vector2(int(text_x), int(text_y)), 45, 0, rl.BLACK)
 
     # Draw icon (right aligned)
     icon_x = rect.x + rect.width - self.horizontal_padding - self.img_width
@@ -63,4 +63,4 @@ class ExperimentalModeButton(Widget):
     # Draw current mode icon
     current_icon = self.experimental_pixmap if self.experimental_mode else self.chill_pixmap
     source_rect = rl.Rectangle(0, 0, current_icon.width, current_icon.height)
-    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.Color(255, 255, 255, 255))
+    rl.draw_texture_pro(current_icon, source_rect, icon_rect, rl.Vector2(0, 0), 0, rl.WHITE)
diff --git a/selfdrive/ui/widgets/prime.py b/selfdrive/ui/widgets/prime.py
index 86234ee14..6b601f6df 100644
--- a/selfdrive/ui/widgets/prime.py
+++ b/selfdrive/ui/widgets/prime.py
@@ -36,7 +36,7 @@ class PrimeWidget(Widget):
     font = gui_app.font(FontWeight.LIGHT)
     wrapped_text = "\n".join(wrap_text(font, "Become a comma prime member at connect.comma.ai", 56, int(w)))
     text_size = measure_text_cached(font, wrapped_text, 56)
-    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.Color(255, 255, 255, 255))
+    rl.draw_text_ex(font, wrapped_text, rl.Vector2(x, desc_y), 56, 0, rl.WHITE)
 
     # Features section
     features_y = desc_y + text_size.y + 50
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
index 79fa8ec2f..ba8592ed1 100644
--- a/sunnypilot/modeld_v2/parse_model_outputs_split.py
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -106,9 +106,7 @@ class Parser:
                        out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
     if 'plan' in outs:
       if self.generation >= 12 and \
-        outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
-        self._parse_plan_mhp(outs)
-      elif self.generation >= 12:
+        outs['plan'].shape[1] == 2 * SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH:
         self.parse_mdn('plan', outs, in_N=0, out_N=0,
                        out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
       else:
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 482f0e3bb..60a222a36 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -114,7 +114,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v6.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v7.json"
 
   def __init__(self, params: Params):
     self.params = params
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index a024935b8..79241cd83 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -19,8 +19,8 @@ from openpilot.system.hardware.hw import Paths
 from pathlib import Path
 
 # see the README.md for more details on the model selector versioning
-CURRENT_SELECTOR_VERSION = 8
-REQUIRED_MIN_SELECTOR_VERSION = 8
+CURRENT_SELECTOR_VERSION = 9
+REQUIRED_MIN_SELECTOR_VERSION = 9
 
 USE_ONNX = os.getenv('USE_ONNX', PC)
 
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index d104e049b..6ee27c30e 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-71c14a02af81857565e5fcffaaddb57a76fe80b283fe3292da830dbc92e211b7
\ No newline at end of file
+cee4a5f34c3c741fd67e4f130a7c21fd92258c9abfc0416c4d619d94e08a72eb
\ No newline at end of file
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 42b7d779e..90eae1dfe 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -15,7 +15,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim, upload_handler
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -47,7 +47,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
               threading.Thread(target=ws_ping, args=(ws, end_event), name='ws_ping'),
               threading.Thread(target=ws_queue, args=(end_event,), name='ws_queue'),
-              # threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
+              threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [
diff --git a/sunnypilot/sunnylink/uploader.py b/sunnypilot/sunnylink/uploader.py
index b9117f286..117fbdc15 100755
--- a/sunnypilot/sunnylink/uploader.py
+++ b/sunnypilot/sunnylink/uploader.py
@@ -1,40 +1,38 @@
 #!/usr/bin/env python3
-import bz2
-import datetime
-import io
 import json
 import os
 import random
+import requests
 import threading
 import time
 import traceback
+import datetime
 from collections.abc import Iterator
-from typing import BinaryIO
 
-import requests
+from cereal import log
+import cereal.messaging as messaging
+from sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.file_helpers import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
-
-import cereal.messaging as messaging
-from cereal import log
-from sunnypilot.sunnylink.api import SunnylinkApi
+from openpilot.common.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.sunny.upload'
-
 UPLOAD_ATTR_VALUE = b'1'
 
-UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+MAX_UPLOAD_SIZES = {
+  "qlog": 25*1e6,  # can't be too restrictive here since we use qlogs to find
+  # bugs, including ones that can cause massive log sizes
+  "qcam": 5*1e6,
+}
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
-OFFROAD_TRANSITION_TIMEOUT = 900.  # wait until offroad for 15 minutes before allowing uploads
-
 
 class FakeRequest:
   def __init__(self):
@@ -52,7 +50,6 @@ def get_directory_sort(d: str) -> list[str]:
   o = ["0", ] if d.startswith("2024-") else ["1", ]
   return o + [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
-
 def listdir_by_creation(d: str) -> list[str]:
   if not os.path.isdir(d):
     return []
@@ -65,7 +62,6 @@ def listdir_by_creation(d: str) -> list[str]:
     cloudlog.exception("listdir_by_creation failed")
     return []
 
-
 def clear_locks(root: str) -> None:
   for logdir in os.listdir(root):
     path = os.path.join(root, logdir)
@@ -89,11 +85,11 @@ class Uploader:
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes")
-    requested_routes = [] if r is None else r.split(",")
+    requested_routes = [] if r is None else [route for route in r.split(",") if route]
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)
@@ -137,11 +133,11 @@ class Uploader:
       if any(f in fn for f in self.immediate_folders):
         return name, key, fn
 
-    return next(
-      ((name, key, fn)
-       for name, key, fn in upload_files if name in self.immediate_priority),
-      None,
-    )
+    for name, key, fn in upload_files:
+      if name in self.immediate_priority:
+        return name, key, fn
+
+    return None
 
   def do_upload(self, key: str, fn: str):
     url_resp = self.api.get(
@@ -161,15 +157,15 @@ class Uploader:
     if fake_upload:
       return FakeResponse()
 
-    with open(fn, "rb") as f:
-      data: BinaryIO
-      if key.endswith('.bz2') and not fn.endswith('.bz2'):
-        compressed = bz2.compress(f.read())
-        data = io.BytesIO(compressed)
-      else:
-        data = f
-
-      return requests.put(url, data=data, headers=headers, timeout=10)
+    stream = None
+    try:
+      compress = key.endswith('.zst') and not fn.endswith('.zst')
+      stream, _ = get_upload_stream(fn, compress)
+      response = requests.put(url, data=stream, headers=headers, timeout=10)
+      return response
+    finally:
+      if stream:
+        stream.close()
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -183,7 +179,7 @@ class Uploader:
     if sz == 0:
       # tag files of 0 size as uploaded
       success = True
-    elif name in self.immediate_priority and sz > UPLOAD_QLOG_QCAM_MAX_SIZE:
+    elif name in MAX_UPLOAD_SIZES and sz > MAX_UPLOAD_SIZES[name]:
       cloudlog.event("uploader_too_large", key=key, fn=fn, sz=sz)
       success = True
     else:
@@ -224,6 +220,7 @@ class Uploader:
 
     return success
 
+
   def step(self, network_type: int, metered: bool) -> bool | None:
     d = self.next_file_to_upload(metered)
     if d is None:
@@ -232,8 +229,8 @@ class Uploader:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
+      key += ".zst"
 
     return self.upload(name, key, fn, network_type, metered)
 
@@ -252,9 +249,6 @@ def main(exit_event: threading.Event = None) -> None:
   params = Params()
   dongle_id = params.get("SunnylinkDongleId")
 
-  offroad_transition_prev = 0.
-  offroad_last = False
-
   if dongle_id is None:
     cloudlog.info("uploader missing dongle_id")
     raise Exception("uploader can't start without dongle id")
@@ -265,35 +259,13 @@ def main(exit_event: threading.Event = None) -> None:
   backoff = 0.1
   while not exit_event.is_set():
     sm.update(0)
-
     offroad = params.get_bool("IsOffroad")
-    t = time.monotonic()
-    if offroad and not offroad_last and t > 300.:
-      offroad_transition_prev = time.monotonic()
-    offroad_last = offroad
-
-    network_type = NetworkType.wifi if force_wifi else sm['deviceState'].networkType
+    network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
     if network_type == NetworkType.none:
       if allow_sleep:
         time.sleep(60 if offroad else 5)
       continue
 
-    if params.get_bool("DisableOnroadUploads"):
-      if not offroad or (offroad_transition_prev > 0. and t - offroad_transition_prev < OFFROAD_TRANSITION_TIMEOUT):
-        if not offroad:
-          cloudlog.info("not uploading: onroad uploads disabled")
-        else:
-          wait_minutes = int(OFFROAD_TRANSITION_TIMEOUT / 60)
-          time_left = OFFROAD_TRANSITION_TIMEOUT - (t - offroad_transition_prev)
-          if time_left > 2.0 * 60.0:
-            time_left_str = f"{int(time_left / 60)} minute(s)"
-          else:
-            time_left_str = f"{int(time_left)} seconds(s)"
-          cloudlog.info(f"not uploading: waiting until offroad for {wait_minutes} minutes; {time_left_str} left")
-        if allow_sleep:
-          time.sleep(60)
-        continue
-
     success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
     if success is None:
       backoff = 60 if offroad else 5
@@ -301,7 +273,7 @@ def main(exit_event: threading.Event = None) -> None:
       backoff = 0.1
     else:
       cloudlog.info("upload backoff %r", backoff)
-      backoff = min(backoff * 2, 120)
+      backoff = min(backoff*2, 120)
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 8cde33592..d702334fa 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -382,6 +382,11 @@ def hardware_thread(end_event, hw_queue) -> None:
 
     # Offroad power monitoring
     voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
+
+    # GitHub runner auto off: 9V is used as the threshold because most desktop runners
+    # will rarely exceed 5V so 9V is set as our buffer between desk use and car use.
+    params.put_bool_nonblocking("GithubRunnerSufficientVoltage", ((voltage or 0) and voltage > 9000))
+
     power_monitor.calculate(voltage, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index c90565180..67a77caa2 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -62,7 +62,8 @@ def only_offroad(started: bool, params: Params, CP: car.CarParams) -> bool:
   return not started
 
 def use_github_runner(started, params, CP: car.CarParams) -> bool:
-  return not PC and params.get_bool("EnableGithubRunner") and not params.get_bool("NetworkMetered")
+  return not PC and params.get_bool("EnableGithubRunner") and (
+    not params.get_bool("NetworkMetered") and not params.get_bool("GithubRunnerSufficientVoltage"))
 
 def sunnylink_ready_shim(started, params, CP: car.CarParams) -> bool:
   """Shim for sunnylink_ready to match the process manager signature."""
@@ -174,7 +175,7 @@ procs += [
 if os.path.exists("./github_runner.sh"):
   procs += [NativeProcess("github_runner_start", "system/manager", ["./github_runner.sh", "start"], and_(only_offroad, use_github_runner), sigkill=False)]
 
-if os.path.exists("../sunnypilot/sunnylink/uploader.py"):
+if os.path.exists("../../sunnypilot/sunnylink/uploader.py"):
   procs += [PythonProcess("sunnylink_uploader", "sunnypilot.sunnylink.uploader", use_sunnylink_uploader_shim)]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
index 5d0f84bc8..178bbec43 100644
--- a/system/ui/lib/wifi_manager.py
+++ b/system/ui/lib/wifi_manager.py
@@ -101,8 +101,8 @@ class WifiManager:
     """Connect to the DBus system bus."""
     try:
       self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
-      if not await self._find_wifi_device():
-        raise ValueError("No Wi-Fi device found")
+      while not await self._find_wifi_device():
+        await asyncio.sleep(1)
 
       await self._setup_signals(self.device_path)
       self.active_ap_path = await self.get_active_access_point()
diff --git a/system/ui/widgets/button.py b/system/ui/widgets/button.py
index 41af8e51c..a5dab1978 100644
--- a/system/ui/widgets/button.py
+++ b/system/ui/widgets/button.py
@@ -32,7 +32,7 @@ BUTTON_TEXT_COLOR = {
   ButtonStyle.PRIMARY: rl.Color(228, 228, 228, 255),
   ButtonStyle.DANGER: rl.Color(228, 228, 228, 255),
   ButtonStyle.TRANSPARENT: rl.BLACK,
-  ButtonStyle.ACTION: rl.Color(0, 0, 0, 255),
+  ButtonStyle.ACTION: rl.BLACK,
   ButtonStyle.LIST_ACTION: rl.Color(228, 228, 228, 255),
   ButtonStyle.NO_EFFECT: rl.Color(228, 228, 228, 255),
   ButtonStyle.KEYBOARD: rl.Color(221, 221, 221, 255),
diff --git a/tinygrad_repo b/tinygrad_repo
index 7737cbb2a..d2bb1bcb9 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 7737cbb2a0635fce95a9085fb1b53d5bea1093f8
+Subproject commit d2bb1bcb976f106a41928f2d66d354ab7afd6f59
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 2a7f83baa..19ef77e01 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -50,7 +50,7 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
-brew "font-noto-color-emoji"
+cask "font-noto-color-emoji"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index a2f437819..7e4e97574 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -49,7 +49,7 @@ class SteeringAccuracyTool:
     active = sm['controlsState'].active
     steer = sm['carOutput'].actuatorsOutput.torque
     standstill = sm['carState'].standstill
-    steer_limited_by_controls = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
+    steer_limited_by_safety = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['modelV2'].meta.laneChangeState != 0
     model_points = sm['modelV2'].position.y
@@ -77,7 +77,7 @@ class SteeringAccuracyTool:
             self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
             if len(model_points):
               self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
-            if steer_limited_by_controls:
+            if steer_limited_by_safety:
               self.speed_group_stats[group][angle_abs]["limited"] += 1
             if control_state.saturated:
               self.speed_group_stats[group][angle_abs]["saturated"] += 1
diff --git a/uv.lock b/uv.lock
index 83d8ea7b0..3b1baa3ee 100644
--- a/uv.lock
+++ b/uv.lock
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