diff --git a/RELEASES.md b/RELEASES.md
index ced7e3d4f..3ff80ca4d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,10 +1,12 @@
-Version 0.9.9 (2025-04-30)
+Version 0.9.9 (2025-05-15)
 ========================
 * New driving model
+  * New training architecture supervised by MLSIM
+* Steering actuator delay is now learned online
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
 * Coming soon
-  * New driving model supervised by MLSIM
-  * An online learner for steering actuator delay
+  * New Honda models
+  * Bigger vision model
 
 Version 0.9.8 (2025-02-28)
 ========================
diff --git a/common/model.h b/common/model.h
index 891178d19..551c0794b 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "Tomb_Raider_5 (Default)"
+#define DEFAULT_MODEL "Tomb_Raider_6 (Default)"
diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py
index f4a967e58..e44ac2cc5 100644
--- a/common/tests/test_simple_kalman.py
+++ b/common/tests/test_simple_kalman.py
@@ -24,6 +24,6 @@ class TestSimpleKalman:
     self.kf.set_x([[1.0], [1.0]])
     assert self.kf.x == [[1.0], [1.0]]
 
-  def update_returns_state(self):
+  def test_update_returns_state(self):
     x = self.kf.update(100)
-    assert x == self.kf.x
+    assert x == [i[0] for i in self.kf.x]
diff --git a/docs/CARS.md b/docs/CARS.md
index 95af300c0..c22568ce2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -80,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023-25">Buy Here</a></sub></details>||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index e8b55ef81..64f4475df 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j8
+scons -j$(nproc)
 ```
 
 ## 2. Run replay
@@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route.
 
 If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
 
+
 ## 3. Make the speed blue
 
-Search for “mph” with git grep in the `ui` folder.
+Now let’s update the speed display color in the UI.
+
+Search for the function responsible for rendering UI text:
 ```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
 ```
 
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
+
+```cpp
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+```
+
+Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+
+```diff
+- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
++ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
+```
+
+This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
+
+---
+
+## 4. Rebuild the UI
+
+After making changes, rebuild Openpilot so your new UI is compiled:
 ```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
+scons -j$(nproc) && selfdrive/ui/ui
 ```
-
-
-## 4. Rebuild UI, and admire your work
-
-```
-scons -j8 && selfdrive/ui/ui
-```
-
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
+You should now see the speed displayed in a nice blue shade during the demo replay.
+
+---
+
 ## 5. Push your fork to GitHub
 
-Click fork on GitHub. Then, push with:
+Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
 ```bash
 git remote rm origin
 git remote add origin git@github.com:<your-github-username>/openpilot.git
 git add .
-git commit -m "Make the speed blue."
+git commit -m "Make the speed display blue"
 git push --set-upstream origin master
 ```
 
-## 6. Run your fork on device in your car!
+---
 
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+## 6. Run your fork on your comma device
+
+Uninstall Openpilot through the settings on your device.
+
+Then reinstall using your own GitHub-hosted fork:
 ```
 installer.comma.ai/<your-github-username>/master
 ```
 
-## 7. Admire your work IRL
+---
+
+## 7. Admire your work IRL 🚗💨
+
+You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
 
 ![](https://blog.comma.ai/img/c3_blue_ui.jpg)
diff --git a/opendbc_repo b/opendbc_repo
index f55dcd5cf..63fbea047 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f55dcd5cf6565073976670cf9d0bd5f30e2280f0
+Subproject commit 63fbea047be715cb772701270e66eddda49433a4
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 3f99f1bbb..56eeac3bd 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -62,3 +62,13 @@ def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.
   should_stop = (v_target < vEgoStopping and
                  v_target_1sec < vEgoStopping)
   return a_target, should_stop
+
+def curv_from_psis(psi_target, psi_rate, vego, action_t):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * action_t)
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
+  psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_rate = yaw_rates[0]
+  return curv_from_psis(psi_target, psi_rate, vego, action_t)
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 980550643..c1b3dd52d 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,7 +26,7 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
@@ -54,8 +54,9 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
                                                      ModelConstants.T_IDXS,
                                                      action_t=long_action_t)
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
-
-    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2],
+                                                plan[:, Plan.ORIENTATION_RATE][:, 2],
+                                                ModelConstants.T_IDXS, v_ego, lat_action_t)
     if v_ego > MIN_LAT_CONTROL_SPEED:
       desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
     else:
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 2075792f4..5b9b68682 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:b86d130c5db2d772da1b139c136ed86976f37137129a19a6b881fdf641bca198
-size 15578328
+oid sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5
+size 15588463
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 5e08b7847..0a7b4a803 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177
+oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e
 size 46265585
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
old mode 100644
new mode 100755
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index eab02971f..4504dca4b 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-ee1b65ca7e29c7c98813af633474d190a4c86ac55d5d0d82f33672159744fb40
\ No newline at end of file
+82ead1a4ecffbde961382329a6cf71bc97a6b112fbfb1f175a51c28ee2472bec
\ No newline at end of file
diff --git a/tools/clip/run.py b/tools/clip/run.py
new file mode 100755
index 000000000..97baa880e
--- /dev/null
+++ b/tools/clip/run.py
@@ -0,0 +1,215 @@
+#!/usr/bin/env python3
+
+import atexit
+import logging
+import os
+import platform
+import shutil
+import time
+from argparse import ArgumentParser, ArgumentTypeError
+from collections.abc import Sequence
+from pathlib import Path
+from random import randint
+from subprocess import Popen, PIPE
+from typing import Literal
+
+from cereal.messaging import SubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.tools.lib.route import SegmentRange, get_max_seg_number_cached
+
+DEFAULT_OUTPUT = 'output.mp4'
+DEMO_START = 90
+DEMO_END = 105
+DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19'
+FRAMERATE = 20
+PIXEL_DEPTH = '24'
+RESOLUTION = '2160x1080'
+SECONDS_TO_WARM = 2
+PROC_WAIT_SECONDS = 5
+
+REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve())
+UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
+
+logger = logging.getLogger('clip.py')
+
+
+def check_for_failure(proc: Popen):
+  exit_code = proc.poll()
+  if exit_code is not None and exit_code != 0:
+    cmd = str(proc.args)
+    if isinstance(proc.args, str):
+      cmd = proc.args
+    elif isinstance(proc.args, Sequence):
+      cmd = str(proc.args[0])
+    msg = f'{cmd} failed, exit code {exit_code}'
+    logger.error(msg)
+    stdout, stderr = proc.communicate()
+    if stdout:
+      logger.error(stdout.decode())
+    if stderr:
+      logger.error(stderr.decode())
+    raise ChildProcessError(msg)
+
+
+def parse_args(parser: ArgumentParser):
+  args = parser.parse_args()
+  if args.demo:
+    args.route = DEMO_ROUTE
+    if args.start is None or args.end is None:
+      args.start = DEMO_START
+      args.end = DEMO_END
+  elif args.route.count('/') == 1:
+    if args.start is None or args.end is None:
+      parser.error('must provide both start and end if timing is not in the route ID')
+  elif args.route.count('/') == 3:
+    if args.start is not None or args.end is not None:
+      parser.error('don\'t provide timing when including it in the route ID')
+    parts = args.route.split('/')
+    args.route = '/'.join(parts[:2])
+    args.start = int(parts[2])
+    args.end = int(parts[3])
+  if args.end <= args.start:
+    parser.error(f'end ({args.end}) must be greater than start ({args.start})')
+  if args.start < SECONDS_TO_WARM:
+    parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
+
+  # if using local files, don't worry about length check right now so we skip the network call
+  # TODO: derive segment count from local FS
+  if not args.data_dir:
+    try:
+      num_segs = get_max_seg_number_cached(SegmentRange(args.route))
+    except Exception as e:
+      parser.error(f'failed to get route length: {e}')
+
+    # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data
+    length = round(num_segs * 60)
+    if args.start >= length:
+      parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
+    if args.end > length:
+      parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)')
+
+  return args
+
+
+def start_proc(args: list[str], env: dict[str, str]):
+  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
+
+
+def validate_env(parser: ArgumentParser):
+  if platform.system() not in ['Linux']:
+    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
+  for proc in ['Xvfb', 'ffmpeg']:
+    if shutil.which(proc) is None:
+      parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n')
+  for proc in [REPLAY, UI]:
+    if shutil.which(proc) is None:
+      parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n')
+
+
+def validate_output_file(output_file: str):
+  if not output_file.endswith('.mp4'):
+    raise ArgumentTypeError('output must be an mp4')
+  return output_file
+
+
+def validate_route(route: str):
+  if route.count('/') not in (1, 3):
+    raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}')
+  return route
+
+
+def wait_for_frames(procs: list[Popen]):
+  sm = SubMaster(['uiDebug'])
+  no_frames_drawn = True
+  while no_frames_drawn:
+    sm.update()
+    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
+    for proc in procs:
+      check_for_failure(proc)
+
+
+def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: str, output_filepath: str, start: int, end: int, target_size_mb: int):
+  logger.info(f'clipping route {route}, start={start} end={end} quality={quality} target_filesize={target_size_mb}MB')
+
+  begin_at = max(start - SECONDS_TO_WARM, 0)
+  duration = end - start
+  bit_rate_kbps = int(round(target_size_mb * 8 * 1024 * 1024 / duration / 1000))
+
+  # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision
+  display = f':{randint(99, 999)}'
+
+  ffmpeg_cmd = [
+    'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0',
+    '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23',
+    '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), output_filepath,
+  ]
+
+  replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix]
+  if data_dir:
+    replay_cmd.extend(['--data_dir', data_dir])
+  if quality == 'low':
+    replay_cmd.append('--qcam')
+  replay_cmd.append(route)
+
+  ui_cmd = [UI, '-platform', 'xcb']
+  xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}']
+
+  with OpenpilotPrefix(prefix, shared_download_cache=True):
+    env = os.environ.copy()
+    env['DISPLAY'] = display
+
+    xvfb_proc = start_proc(xvfb_cmd, env)
+    atexit.register(lambda: xvfb_proc.terminate())
+    ui_proc = start_proc(ui_cmd, env)
+    atexit.register(lambda: ui_proc.terminate())
+    replay_proc = start_proc(replay_cmd, env)
+    atexit.register(lambda: replay_proc.terminate())
+    procs = [replay_proc, ui_proc, xvfb_proc]
+
+    logger.info('waiting for replay to begin (loading segments, may take a while)...')
+    wait_for_frames(procs)
+
+    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
+    time.sleep(SECONDS_TO_WARM)
+    for proc in procs:
+      check_for_failure(proc)
+
+    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
+    procs.append(ffmpeg_proc)
+    atexit.register(lambda: ffmpeg_proc.terminate())
+
+    logger.info(f'recording in progress ({duration}s)...')
+    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
+    for proc in procs:
+      check_for_failure(proc)
+    logger.info(f'recording complete: {Path(output_filepath).resolve()}')
+
+
+def main():
+  p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai')
+  validate_env(p)
+  route_group = p.add_mutually_exclusive_group(required=True)
+  route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})')
+  route_group.add_argument('--demo', help='use the demo route', action='store_true')
+  p.add_argument('-d', '--data-dir', help='local directory where route data is stored')
+  p.add_argument('-e', '--end', help='stop clipping at <end> seconds', type=int)
+  p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.)
+  p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT)
+  p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
+  p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
+  p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
+  args = parse_args(p)
+  try:
+    clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size)
+  except KeyboardInterrupt as e:
+    logger.exception('interrupted by user', exc_info=e)
+  except Exception as e:
+    logger.exception('encountered error', exc_info=e)
+  finally:
+    atexit._run_exitfuncs()
+
+
+if __name__ == '__main__':
+  logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s')
+  main()
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 03302364e..f33569704 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -63,7 +63,8 @@ function install_ubuntu_common_requirements() {
     libqt5svg5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
-    libqt5opengl5-dev
+    libqt5opengl5-dev \
+    xvfb
 }
 
 # Install Ubuntu 24.04 LTS packages
diff --git a/tools/op.sh b/tools/op.sh
index b4508f7ef..8a8faaf23 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -328,6 +328,11 @@ function op_sim() {
   op_run_command exec tools/sim/launch_openpilot.sh
 }
 
+function op_clip() {
+  op_before_cmd
+  op_run_command tools/clip/run.py $@
+}
+
 function op_switch() {
   REMOTE="origin"
   if [ "$#" -gt 1 ]; then
@@ -395,6 +400,7 @@ function op_default() {
   echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
   echo -e "  ${BOLD}replay${NC}       Run Replay"
   echo -e "  ${BOLD}cabana${NC}       Run Cabana"
+  echo -e "  ${BOLD}clip${NC}         Run clip (linux only)"
   echo -e "  ${BOLD}adb${NC}          Run adb shell"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
@@ -445,6 +451,7 @@ function _op() {
     lint )          shift 1; op_lint "$@" ;;
     test )          shift 1; op_test "$@" ;;
     replay )        shift 1; op_replay "$@" ;;
+    clip )          shift 1; op_clip "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
     install )       shift 1; op_install "$@" ;;
     switch )        shift 1; op_switch "$@" ;;
diff --git a/tools/replay/README.md b/tools/replay/README.md
index f02090c58..719f7d2db 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -81,7 +81,7 @@ Arguments:
                          connect.comma.ai
 ```
 
-## Visualize the Replay in the Openpilot UI
+## Visualize the Replay in the openpilot UI
 To visualize the replay within the openpilot UI, run the following commands:
 
 ```bash
diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h
index 3d4abeb45..7731f8017 100644
--- a/tools/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -12,7 +12,7 @@ public:
   ConsoleUI(Replay *replay);
   ~ConsoleUI();
   int exec();
-  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
+  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 4.0f, 8.0f};
 
 private:
   void initWindows();
diff --git a/uv.lock b/uv.lock
index a8a99e997..498101045 100644
--- a/uv.lock
+++ b/uv.lock
@@ -217,11 +217,11 @@ wheels = [
 
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+version = "2025.4.26"
 source = { registry = "https://pypi.org/simple" }
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+sdist = { url = "https://files.pythonhosted.org/packages/e8/9e/c05b3920a3b7d20d3d3310465f50348e5b3694f4f88c6daf736eef3024c4/certifi-2025.4.26.tar.gz", hash = "sha256:0a816057ea3cdefcef70270d2c515e4506bbc954f417fa5ade2021213bb8f0c6", size = 160705, upload_time = "2025-04-26T02:12:29.51Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/4a/7e/3db2bd1b1f9e95f7cddca6d6e75e2f2bd9f51b1246e546d88addca0106bd/certifi-2025.4.26-py3-none-any.whl", hash = "sha256:30350364dfe371162649852c63336a15c70c6510c2ad5015b21c2345311805f3", size = 159618, upload_time = "2025-04-26T02:12:27.662Z" },
 ]
 
 [[package]]
@@ -1632,24 +1632,28 @@ wheels = [
 
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+version = "20.0.0"
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-    { url = "https://files.pythonhosted.org/packages/13/12/428861540bb54c98a140ae858a11f71d041ef9e501e6b7eb965ca7909505/pyarrow-19.0.1-cp311-cp311-macosx_12_0_x86_64.whl", hash = "sha256:7a544ec12de66769612b2d6988c36adc96fb9767ecc8ee0a4d270b10b1c51e00", size = 32135613, upload_time = "2025-02-18T18:52:25.29Z" },
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