Merge branch 'master' into dev-priv/master

# Conflicts: # panda # selfdrive/car/gm/interface.py # selfdrive/ui/translations/main_zh-CHT.ts
2026-08-22 11:13:47 +08:00 · 2023-03-12 14:59:46 -04:00
parent 11f9ce2c71 b475e28087
commit 27bd70f64b
221 changed files with 1925 additions and 1276 deletions
@@ -204,11 +204,12 @@ jobs:
                        $UNIT_TEST selfdrive/boardd && \
                        $UNIT_TEST selfdrive/controls && \
                        $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST system/loggerd && \
                        $UNIT_TEST selfdrive/car && \
                        $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST system/ubloxd && \
                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./selfdrive/locationd/test/test_glonass_runner && \
+                        ./system/ubloxd/tests/test_glonass_runner && \
                        $UNIT_TEST selfdrive/athena && \
                        $UNIT_TEST selfdrive/thermald && \
                        $UNIT_TEST system/hardware/tici && \
@@ -220,7 +221,7 @@ jobs:
                        ./common/tests/test_util && \
                        ./common/tests/test_swaglog && \
                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./selfdrive/loggerd/tests/test_logger &&\
+                        ./system/loggerd/tests/test_logger &&\
                        ./system/proclogd/tests/test_proclog && \
                        ./tools/replay/tests/test_replay && \
                        ./tools/cabana/tests/test_cabana && \
@@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
@@ -157,10 +157,11 @@ pipeline {
            phone_steps("tici-common", [
              ["build", "cd selfdrive/manager && ./build.py"],
              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
-              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
            ])
          }
        }
@@ -192,11 +193,11 @@ pipeline {
          steps {
            phone_steps("tici-lsmc", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
            ])
            phone_steps("tici-bmx-lsm", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
            ])
          }
        }
@@ -1,8 +1,9 @@
 Version 0.9.2 (2023-03-XX)
 ========================
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* Škoda Fabia 2022-23 support thanks to jyoung8607!

-Version 0.9.1 (2023-02-23)
+Version 0.9.1 (2023-02-28)
 ========================
 * New driving model
  * 30% improved height estimation resulting in better driving performance for tall cars
@@ -398,6 +398,7 @@ SConscript([
  'system/camerad/SConscript',
  'system/clocksd/SConscript',
  'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
 ])
 if arch != "Darwin":
  SConscript(['system/logcatd/SConscript'])
@@ -424,10 +425,10 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])

 SConscript(['selfdrive/boardd/SConscript'])

-SConscript(['selfdrive/loggerd/SConscript'])
+SConscript(['system/loggerd/SConscript'])

 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])

@@ -99,7 +99,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CompletedTrainingVersion", PERSISTENT},
    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"DashcamOverride", PERSISTENT},
    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"DisablePowerDown", PERSISTENT},
    {"ExperimentalMode", PERSISTENT},
@@ -138,7 +137,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
    {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"LaikadEphemerisV2", PERSISTENT | DONT_LOG},
    {"LanguageSetting", PERSISTENT},
    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
    {"LastGPSPosition", PERSISTENT},
@@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.

-# 237 Supported Cars
+# 238 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -79,7 +79,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O</a>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I</a>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H</a>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2021-22[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2021-22">Hyundai N</a>||
+|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N</a>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D</a>||
 |Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L</a>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L</a>||
@@ -161,9 +161,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
+|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
 |Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2018-19">J533</a>||
+|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
 |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
 |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
 |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
@@ -178,10 +179,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota</a>||
 |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota</a>||
 |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota</a>||
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-19">Toyota</a>||
-|Toyota|C-HR Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2022">Toyota</a>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota</a>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota</a>||
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-22">Toyota</a>||
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota</a>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota</a>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota</a>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota</a>||
@@ -83,7 +83,7 @@ common
 sensorsd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_sensord_sensors
+   :project: system_sensord_sensors

 boardd
 ^^^^^^
@@ -5,7 +5,7 @@ openpilot
   :maxdepth: 4

   Debugging <selfdrive/debug/README.md>
-   selfdrive/loggerd/README.md
+   system/loggerd/README.md
   Driver Monitoring <selfdrive/monitoring/README.md>
   Process Replay <selfdrive/test/process_replay/README.md>

@@ -4355,6 +4355,14 @@ python-versions = "*"
 [package.dependencies]
 types-urllib3 = "<1.27"

+[[package]]
+name = "types-tabulate"
+version = "0.9.0.1"
+description = "Typing stubs for tabulate"
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "types-urllib3"
 version = "1.26.25.1"
@@ -4567,7 +4575,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "9e9495c896e6fd0855803aeaf46513c6c22424b86be820759a8baf27d44e73ee"
+content-hash = "669485055bf8d77336509cb7a3878e06aa32431c520825948914d76b57347fde"

 [metadata.files]
 adal = [
@@ -6616,7 +6624,6 @@ onnx = [
 ]
 onnx2torch = [
    {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"},
-    {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"},
 ]
 onnxoptimizer = [
    {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"},
@@ -7002,7 +7009,6 @@ pycryptodome = [
    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"},
    {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"},
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"},
@@ -7010,14 +7016,12 @@ pycryptodome = [
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"},
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"},
    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"},
    {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"},
    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"},
    {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"},
    {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"},
    {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"},
@@ -7659,18 +7663,6 @@ setproctitle = [
    {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7f2719a398e1a2c01c2a63bf30377a34d0b6ef61946ab9cf4d550733af8f1ef1"},
    {file = "setproctitle-1.3.2-cp310-cp310-win32.whl", hash = "sha256:e425be62524dc0c593985da794ee73eb8a17abb10fe692ee43bb39e201d7a099"},
    {file = "setproctitle-1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:e85e50b9c67854f89635a86247412f3ad66b132a4d8534ac017547197c88f27d"},
-    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a97d51c17d438cf5be284775a322d57b7ca9505bb7e118c28b1824ecaf8aeaa"},
-    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587c7d6780109fbd8a627758063d08ab0421377c0853780e5c356873cdf0f077"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"},
-    {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"},
-    {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"},
    {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"},
    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"},
    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"},
@@ -8066,6 +8058,10 @@ types-requests = [
    {file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"},
    {file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"},
 ]
+types-tabulate = [
+    {file = "types-tabulate-0.9.0.1.tar.gz", hash = "sha256:e486292c279f19247865bdabe802419740a0e74b53444e7f7a8009e08129da5d"},
+    {file = "types_tabulate-0.9.0.1-py3-none-any.whl", hash = "sha256:be2ea0de05f615ccfcbadf6206aa720e265955eb1de23e343aec9d8bf3fa9aaa"},
+]
 types-urllib3 = [
    {file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"},
    {file = "types_urllib3-1.26.25.1-py3-none-any.whl", hash = "sha256:f6422596cc9ee5fdf68f9d547f541096a20c2dcfd587e37c804c9ea720bf5cb2"},
@@ -59,6 +59,7 @@ urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
 polyline = "^1.4.0"
+types-tabulate = "^0.9.0.1"


 [tool.poetry.group.dev.dependencies]
@@ -1,7 +1,7 @@
 #!/bin/bash

 while read hash submodule ref; do
-  git -C $submodule fetch --depth 200 origin master
+  git -C $submodule fetch --depth 1000 origin master
  git -C $submodule branch -r --contains $hash | grep "origin/master"
  if [ "$?" -eq 0 ]; then
    echo "$submodule ok"
@@ -241,14 +241,15 @@ system/hardware/pc/__init__.py
 system/hardware/pc/hardware.h
 system/hardware/pc/hardware.py

-selfdrive/locationd/__init__.py
-selfdrive/locationd/.gitignore
-selfdrive/locationd/SConscript
-selfdrive/locationd/ubloxd.cc
-selfdrive/locationd/ublox_msg.cc
-selfdrive/locationd/ublox_msg.h
-selfdrive/locationd/generated/*
+system/ubloxd/.gitignore
+system/ubloxd/SConscript
+system/ubloxd/generated/*
+system/ubloxd/*.h
+system/ubloxd/*.cc

+selfdrive/locationd/__init__.py
+selfdrive/locationd/SConscript
+selfdrive/locationd/.gitignore
 selfdrive/locationd/laikad.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
@@ -275,35 +276,36 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h

-selfdrive/loggerd/.gitignore
-selfdrive/loggerd/SConscript
-selfdrive/loggerd/encoder/encoder.cc
-selfdrive/loggerd/encoder/encoder.h
-selfdrive/loggerd/encoder/v4l_encoder.cc
-selfdrive/loggerd/encoder/v4l_encoder.h
-selfdrive/loggerd/video_writer.cc
-selfdrive/loggerd/video_writer.h
-selfdrive/loggerd/logger.cc
-selfdrive/loggerd/logger.h
-selfdrive/loggerd/loggerd.cc
-selfdrive/loggerd/loggerd.h
-selfdrive/loggerd/encoderd.cc
-selfdrive/loggerd/bootlog.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.h
+system/loggerd/.gitignore
+system/loggerd/SConscript
+system/loggerd/encoder/encoder.cc
+system/loggerd/encoder/encoder.h
+system/loggerd/encoder/v4l_encoder.cc
+system/loggerd/encoder/v4l_encoder.h
+system/loggerd/video_writer.cc
+system/loggerd/video_writer.h
+system/loggerd/logger.cc
+system/loggerd/logger.h
+system/loggerd/loggerd.cc
+system/loggerd/loggerd.h
+system/loggerd/encoderd.cc
+system/loggerd/bootlog.cc
+system/loggerd/encoder/ffmpeg_encoder.cc
+system/loggerd/encoder/ffmpeg_encoder.h

-selfdrive/loggerd/__init__.py
-selfdrive/loggerd/config.py
-selfdrive/loggerd/uploader.py
-selfdrive/loggerd/deleter.py
-selfdrive/loggerd/xattr_cache.py
+system/loggerd/__init__.py
+system/loggerd/config.py
+system/loggerd/uploader.py
+system/loggerd/deleter.py
+system/loggerd/xattr_cache.py

-selfdrive/sensord/SConscript
-selfdrive/sensord/sensors_qcom2.cc
-selfdrive/sensord/sensors/*.cc
-selfdrive/sensord/sensors/*.h
-selfdrive/sensord/sensord
-selfdrive/sensord/pigeond.py
+system/sensord/.gitignore
+system/sensord/SConscript
+system/sensord/sensors_qcom2.cc
+system/sensord/sensors/*.cc
+system/sensord/sensors/*.h
+system/sensord/sensord
+system/sensord/pigeond.py

 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
@@ -605,13 +607,14 @@ opendbc/tesla_can.dbc
 opendbc/tesla_radar.dbc
 opendbc/tesla_powertrain.dbc

-tinygrad_repo/accel/opencl/*
-tinygrad_repo/tinygrad/llops/ops_opencl.py
 tinygrad_repo/openpilot/compile.py
 tinygrad_repo/extra/onnx.py
+tinygrad_repo/extra/onnx_ops.py
 tinygrad_repo/extra/thneed.py
 tinygrad_repo/extra/utils.py
-tinygrad_repo/tinygrad/llops/ops_gpu.py
-tinygrad_repo/tinygrad/shape/*
+tinygrad_repo/tinygrad/codegen/ast.py
+tinygrad_repo/tinygrad/codegen/gpu.py
 tinygrad_repo/tinygrad/nn/*
+tinygrad_repo/tinygrad/runtime/ops_gpu.py
+tinygrad_repo/tinygrad/shape/*
 tinygrad_repo/tinygrad/*.py
@@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl

-selfdrive/sensord/rawgps/*
+system/sensord/rawgps/*

 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
@@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
 from system.hardware import HARDWARE, PC, AGNOS
-from selfdrive.loggerd.config import ROOT
-from selfdrive.loggerd.xattr_cache import getxattr, setxattr
+from system.loggerd.config import ROOT
+from system.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
 from system.swaglog import SWAGLOG_DIR, cloudlog
 from system.version import get_commit, get_origin, get_short_branch, get_version
@@ -84,9 +84,9 @@ def main() -> NoReturn:
      params.remove("PandaSignatures")

      # Flash all Pandas in DFU mode
-      for p in PandaDFU.list():
-        cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
-        PandaDFU(p).recover()
+      for serial in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+        PandaDFU(serial).recover()
      time.sleep(1)

      panda_serials = Panda.list()
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import time
+import unittest
+
+import cereal.messaging as messaging
+from panda import Panda
+from selfdrive.test.helpers import phone_only
+from selfdrive.manager.process_config import managed_processes
+from system.hardware import HARDWARE
+
+
+class TestPandad(unittest.TestCase):
+
+  def tearDown(self):
+    managed_processes['pandad'].stop()
+
+  def _wait_for_boardd(self):
+    sm = messaging.SubMaster(['peripheralState'])
+    for _ in range(30):
+      sm.update(1000)
+      if sm.updated['peripheralState']:
+        break
+
+    if not sm.updated['peripheralState']:
+      raise Exception("boardd failed to start")
+
+  @phone_only
+  def test_in_dfu(self):
+    HARDWARE.recover_internal_panda()
+    time.sleep(1)
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  @phone_only
+  def test_in_bootstub(self):
+    with Panda() as p:
+      p.reset(enter_bootstub=True)
+      assert p.bootstub
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  #def test_out_of_date_fw(self):
+  #  pass
+
+
+if __name__ == "__main__":
+  unittest.main()
@@ -79,7 +79,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st
  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}


-def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):

  # limits due to driver torque
  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
@@ -99,29 +99,37 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
  return int(round(float(apply_torque)))


-def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-  # limits due to comparison of commanded torque VS motor reported torque
-  max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
-  min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
+def apply_dist_to_meas_limits(val, val_last, val_meas,
+                              STEER_DELTA_UP, STEER_DELTA_DOWN,
+                              STEER_ERROR_MAX, STEER_MAX):
+  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
+  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
+  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)

-  apply_torque = clip(apply_torque, min_lim, max_lim)
+  val = clip(val, min_lim, max_lim)

-  # slow rate if steer torque increases in magnitude
-  if apply_torque_last > 0:
-    apply_torque = clip(apply_torque,
-                        max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
-                        apply_torque_last + LIMITS.STEER_DELTA_UP)
+  # slow rate if val increases in magnitude
+  if val_last > 0:
+    val = clip(val,
+               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
+               val_last + STEER_DELTA_UP)
  else:
-    apply_torque = clip(apply_torque,
-                        apply_torque_last - LIMITS.STEER_DELTA_UP,
-                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+    val = clip(val,
+               val_last - STEER_DELTA_UP,
+               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))

-  return int(round(float(apply_torque)))
+  return float(val)
+
+
+def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
+  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
+                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
+                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))


 def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
  # pick angle rate limits based on wind up/down
-  steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
+  steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN

  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
@@ -1,6 +1,6 @@
 from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_toyota_steer_torque_limits
+from selfdrive.car import apply_meas_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
 from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags

@@ -67,7 +67,7 @@ class CarController:

      # steer torque
      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
-      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
      if not lkas_active or not lkas_control_bit:
        apply_steer = 0
      self.apply_steer_last = apply_steer
@@ -93,7 +93,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {

 FINGERPRINTS = {
  CAR.PACIFICA_2017_HYBRID: [{
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788:3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
  }],
  CAR.PACIFICA_2018: [{
    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
@@ -135,7 +135,7 @@ FINGERPRINTS = {
  }],
  CAR.JEEP_CHEROKEE_2019: [{
    # Jeep Grand Cherokee 2019, including most 2020 models
-    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
  }],
 }

@@ -37,7 +37,7 @@ class CarState(CarStateBase):
    # steering wheel
    ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
    ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
-    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
    ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
    ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
    # ret.espDisabled = False  # TODO: find traction control signal
@@ -24,12 +24,13 @@ class CarControllerParams:
  BUTTONS_STEP = 10 / 2

  CURVATURE_MAX = 0.02  # Max curvature for steering command, m^-1
-  STEER_DRIVER_ALLOWANCE = 0.8  # Driver intervention threshold, Nm
+  STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm

  # Curvature rate limits
  # TODO: unify field names used by curvature and angle control cars
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.005, 0.00056, 0.0002])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.008, 0.00089, 0.00032])
+  # ~2 m/s^3 up, ~-3 m/s^3 down
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024])

  ACCEL_MAX = 2.0               # m/s^s max acceleration
  ACCEL_MIN = -3.5              # m/s^s max deceleration
@@ -164,6 +165,7 @@ FW_VERSIONS = {
      b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x760, None): [
+      b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -177,6 +179,7 @@ FW_VERSIONS = {
      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7E0, None): [
+      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import interp
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons

@@ -30,7 +30,6 @@ class CarController:
    self.cancel_counter = 0

    self.lka_steering_cmd_counter = 0
-    self.sent_lka_steering_cmd = False
    self.lka_icon_status_last = (False, False)

    self.params = CarControllerParams(self.CP)
@@ -59,24 +58,22 @@ class CarController:
      # - until we're in sync with camera so counters align when relay closes, preventing a fault.
      #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
-      if not self.sent_lka_steering_cmd or out_of_sync:
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
        steer_step = self.params.STEER_STEP

-    if CS.loopback_lka_steering_cmd_updated:
-      self.lka_steering_cmd_counter += 1
-      self.sent_lka_steering_cmd = True
+    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0

    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
    # received the ASCMLKASteeringCmd loopback confirmation too recently
    last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
    if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
-      if not self.sent_lka_steering_cmd:
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1

      if CC.latActive:
        new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
      else:
        apply_steer = 0

@@ -43,7 +43,8 @@ class CarState(CarStateBase):

    # Variables used for avoiding LKAS faults
    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
-    self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
+    if self.loopback_lka_steering_cmd_updated:
+      self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
      self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -3,12 +3,11 @@ from cereal import car
 from math import fabs
 from panda import Panda

-from common.numpy_fast import interp
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
-from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
-from selfdrive.controls.lib.drive_helpers import apply_center_deadzone
+from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
+from selfdrive.car.interfaces import CarInterfaceBase

 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -45,48 +44,12 @@ class CarInterface(CarInterfaceBase):
    else:
      return CarInterfaceBase.get_steer_feedforward_default

-  @staticmethod
-  def torque_from_lateral_accel_bolt(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation):
-    friction_interp = interp(
-      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-      [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
-      [-torque_params.friction, torque_params.friction]
-    )
-    friction = friction_interp if friction_compensation else 0.0
-    steer_torque = lateral_accel_value / torque_params.latAccelFactor
-
-    # TODO:
-    # 1. Learn the correction factors from data
-    # 2. Generalize the logic to other GM torque control platforms
-    steer_break_pts = [-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0]
-    steer_lataccel_factors = [1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5]
-    steer_correction_factor = interp(
-      steer_torque,
-      steer_break_pts,
-      steer_lataccel_factors
-    )
-
-    vego_break_pts = [0.0, 10.0, 15.0, 20.0, 100.0]
-    vego_lataccel_factors = [1.5, 1.5, 1.25, 1.0, 1.0]
-    vego_correction_factor = interp(
-      vego,
-      vego_break_pts,
-      vego_lataccel_factors,
-    )
-
-    return (steer_torque + friction) / (steer_correction_factor * vego_correction_factor)
-
-  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.BOLT_EUV:
-      return self.torque_from_lateral_accel_bolt
-    else:
-      return self.torque_from_lateral_accel_linear
-
  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "gm"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
    ret.autoResumeSng = False
+    use_off_car_defaults = len(fingerprint[0]) == 0  # Pick sensible carParams during offline doc generation/CI jobs

    if candidate in EV_CAR:
      ret.transmissionType = TransmissionType.direct
@@ -125,7 +88,7 @@ class CarInterface(CarInterfaceBase):
    else:  # ASCM, OBD-II harness
      ret.openpilotLongitudinalControl = True
      ret.networkLocation = NetworkLocation.gateway
-      ret.radarUnavailable = False
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults
      ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
      # supports stop and go, but initial engage must (conservatively) be above 18mph
      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
@@ -138,7 +101,8 @@ class CarInterface(CarInterfaceBase):
    # These cars have been put into dashcam only due to both a lack of users and test coverage.
    # These cars likely still work fine. Once a user confirms each car works and a test route is
    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \
+                      (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)

    # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -204,6 +168,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.95  # 116 inches in meters
      ret.steerRatio = 17.3
      ret.centerToFront = ret.wheelbase * 0.5
+      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.ESCALADE_ESV:
@@ -223,7 +188,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 16.8
      ret.centerToFront = ret.wheelbase * 0.4
      tire_stiffness_factor = 1.0
-      ret.steerActuatorDelay = 0.12
+      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.SILVERADO:
@@ -14,8 +14,8 @@ class CarControllerParams:
  STEER_STEP = 3  # Active control frames per command (~33hz)
  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 15
-  STEER_DRIVER_ALLOWANCE = 65
+  STEER_DELTA_DOWN = 25
+  STEER_DRIVER_ALLOWANCE = 50
  STEER_DRIVER_MULTIPLIER = 4
  STEER_DRIVER_FACTOR = 100
  NEAR_STOP_BRAKE_PHASE = 0.5  # m/s
@@ -151,6 +151,10 @@ FINGERPRINTS = {
  # Volt Premier w/ ACC 2018
  {
    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Volt Premier 2018 w/ flashed firmware, no radar
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
  }],
  CAR.BUICK_REGAL : [
  # Regal TourX Essence w/ ACC 2018
@@ -368,10 +368,12 @@ FW_VERSIONS = {
      b'57114-TWA-A050\x00\x00',
      b'57114-TWA-A530\x00\x00',
      b'57114-TWA-B520\x00\x00',
+      b'57114-TWB-H030\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-TWA-A440\x00\x00',
      b'77959-TWA-L420\x00\x00',
+      b'77959-TWB-H220\x00\x00',
    ],
    (Ecu.combinationMeter, 0x18da60f1, None): [
      b'78109-TWA-A010\x00\x00',
@@ -385,6 +387,7 @@ FW_VERSIONS = {
      b'78109-TWA-A230\x00\x00',
      b'78109-TWA-L010\x00\x00',
      b'78109-TWA-L210\x00\x00',
+      b'78109-TWA-H210\x00\x00',
    ],
    (Ecu.shiftByWire, 0x18da0bf1, None): [
      b'54008-TWA-A910\x00\x00',
@@ -396,16 +399,19 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x18dab5f1, None): [
      b'36161-TWA-A070\x00\x00',
      b'36161-TWA-A330\x00\x00',
+      b'36161-TWB-H040\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36802-TWA-A070\x00\x00',
      b'36802-TWA-A080\x00\x00',
      b'36802-TWA-A330\x00\x00',
+      b'36802-TWB-H060\x00\x00',
    ],
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-TVA-A160\x00\x00',
      b'39990-TVA-A150\x00\x00',
      b'39990-TVA-A340\x00\x00',
+      b'39990-TWB-H120\x00\x00',
    ],
  },
  CAR.CIVIC: {
@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR

@@ -64,7 +64,7 @@ class CarController:

    # steering torque
    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+    apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)

    if not CC.latActive:
      apply_steer = 0
@@ -2,6 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
+from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
 from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config, create_mads_event
@@ -251,10 +252,9 @@ class CarInterface(CarInterfaceBase):

    # *** feature detection ***
    if candidate in CANFD_CAR:
-      bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
-      ret.enableBsm = 0x1e5 in fingerprint[bus]
+      ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]

-      if 0x1fa in fingerprint[bus]:
+      if 0x1fa in fingerprint[get_e_can_bus(ret)]:
        ret.flags |= HyundaiFlags.SP_NAV_MSG.value
    else:
      ret.enableBsm = 0x58b in fingerprint[0]
@@ -194,7 +194,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
  ],
  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
-  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n),
+  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n),

  # Kia
  CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
@@ -515,7 +515,6 @@ FW_VERSIONS = {
      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
      b'\xf1\x00DN89110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
-      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@@ -528,7 +527,6 @@ FW_VERSIONS = {
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
      b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
    ],
    (Ecu.engine, 0x7e0, None): [
@@ -590,6 +588,7 @@ FW_VERSIONS = {
      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
      b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
      b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
+      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSCF\xe4!Y',
      b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
      b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
      b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
@@ -754,7 +753,6 @@ FW_VERSIONS = {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
      b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
      b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
    ],
    (Ecu.abs, 0x7d1, None): [
@@ -788,6 +786,7 @@ FW_VERSIONS = {
      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
    ],
    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
      b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
      b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
      b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
@@ -1569,6 +1568,7 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
    ],
  },
  CAR.TUCSON_4TH_GEN: {
@@ -1600,9 +1600,11 @@ FW_VERSIONS = {
  CAR.SANTA_CRUZ_1ST_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00NX4__               1.00 1.00 99110-K5000         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
    ],
  },
  CAR.KIA_SPORTAGE_5TH_GEN: {
@@ -21,7 +21,7 @@ from selfdrive.controls.lib.vehicle_model import VehicleModel
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
-TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, float, bool], float]
+TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float]

 MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
 ACCEL_MAX = 2.0
@@ -161,7 +161,7 @@ class CarInterfaceBase(ABC):
    return self.get_steer_feedforward_default

  @staticmethod
-  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, vego, friction_compensation):
+  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
    friction_interp = interp(
      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
@@ -1,6 +1,6 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons

@@ -23,8 +23,8 @@ class CarController:
    if CC.latActive:
      # calculate steer and also set limits due to driver torque
      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                  CS.out.steeringTorque, CarControllerParams)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last,
+                                                     CS.out.steeringTorque, CarControllerParams)

    if CC.cruiseControl.cancel:
      # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
@@ -1,5 +1,5 @@
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams

@@ -34,7 +34,7 @@ class CarController:
      # limits due to driver torque

      new_steer = int(round(apply_steer))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)

      if not CC.latActive:
        apply_steer = 0
@@ -206,6 +206,7 @@ routes = [
  CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
  CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
  CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
+  CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
  CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
  CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
  CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
@@ -56,6 +56,7 @@ CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017

+SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
 SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
 SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
 SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
@@ -1,7 +1,7 @@
 from cereal import car
 from common.numpy_fast import clip, interp
 from common.params import Params
-from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg
+from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                           create_accel_command, create_acc_cancel_command, \
                                           create_fcw_command, create_lta_steer_command
@@ -64,7 +64,7 @@ class CarController:

    # steer torque
    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
+    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)

    # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
    if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
@@ -117,12 +117,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
  CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
  CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
-  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
+  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
  CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
  CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
-  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
-  CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2022"),
+  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
+  CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
  CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
  CAR.COROLLA_TSS2: [
    ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
@@ -714,6 +714,7 @@ FW_VERSIONS = {
      b'8646FF404000    ',
      b'8646FF406000    ',
      b'8646FF407000    ',
+      b'8646FF407100    ',
    ],
  },
  CAR.CHRH_TSS2: {
@@ -1638,6 +1639,7 @@ FW_VERSIONS = {
      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
      b'\x01896633T38000\x00\x00\x00\x00',
      b'\x01896633T58000\x00\x00\x00\x00',
@@ -1728,6 +1730,7 @@ FW_VERSIONS = {
    (Ecu.engine, 0x700, None): [
      b'\x018966378B2100\x00\x00\x00\x00',
      b'\x018966378B3000\x00\x00\x00\x00',
+      b'\x018966378B4100\x00\x00\x00\x00',
      b'\x018966378G3000\x00\x00\x00\x00',
      b'\x018966378B2000\x00\x00\x00\x00',
    ],
@@ -3,7 +3,7 @@ from opendbc.can.packer import CANPacker
 from common.numpy_fast import clip
 from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
-from selfdrive.car import apply_std_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.volkswagen import mqbcan, pqcan
 from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams

@@ -44,7 +44,7 @@ class CarController:

      if CC.latActive:
        new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
        if apply_steer == 0:
          hcaEnabled = False
          self.hcaEnabledFrameCount = 0
@@ -189,6 +189,10 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1227 + STD_CARGO_KG
      ret.wheelbase = 2.64

+    elif candidate == CAR.SKODA_FABIA_MK4:
+      ret.mass = 1266 + STD_CARGO_KG
+      ret.wheelbase = 2.56
+
    elif candidate == CAR.SKODA_KAMIQ_MK1:
      ret.mass = 1265 + STD_CARGO_KG
      ret.wheelbase = 2.66
@@ -139,6 +139,7 @@ class CAR:
  AUDI_Q3_MK2 = "AUDI Q3 2ND GEN"                   # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
  SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"             # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
  SEAT_LEON_MK3 = "SEAT LEON 3RD GEN"               # Chassis 5F, Mk3 SEAT Leon and variants
+  SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN"           # Chassis PJ, Mk4 Skoda Fabia
  SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN"           # Chassis NW, Mk1 Skoda Kamiq
  SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN"           # Chassis NU, Mk1 Skoda Karoq
  SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"         # Chassis NS, Mk1 Skoda Kodiaq
@@ -249,9 +250,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
  CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
  CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
  CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
+  CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
-  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
+  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
  CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
  CAR.SKODA_OCTAVIA_MK3: [
@@ -749,12 +751,14 @@ FW_VERSIONS = {
      b'\xf1\x8783A907115B \xf1\x890005',
      b'\xf1\x8783A907115F \xf1\x890002',
      b'\xf1\x8783A907115G \xf1\x890001',
+      b'\xf1\x8783A907115K \xf1\x890001',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x8709G927158DT\xf1\x893698',
      b'\xf1\x8709G927158FM\xf1\x893757',
      b'\xf1\x8709G927158GC\xf1\x893821',
      b'\xf1\x8709G927158GD\xf1\x893820',
+      b'\xf1\x8709G927158GM\xf1\x893936',
      b'\xf1\x870D9300043  \xf1\x895202',
      b'\xf1\x870DL300011N \xf1\x892001',
      b'\xf1\x870DL300011N \xf1\x892012',
@@ -785,6 +789,7 @@ FW_VERSIONS = {
      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
      b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
    ],
    (Ecu.fwdRadar, 0x757, None): [
      b'\xf1\x872Q0907572AA\xf1\x890396',
@@ -1016,6 +1021,23 @@ FW_VERSIONS = {
      b'\xf1\x875Q0907572P \xf1\x890682',
    ],
  },
+  CAR.SKODA_FABIA_MK4: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018CF\xf1\x891905',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300051M \xf1\x891936',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144S \xf1\x896042',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+    ],
+  },
  CAR.SKODA_KAMIQ_MK1: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8705C906032M \xf1\x891333',
@@ -1059,27 +1081,36 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704E906027DD\xf1\x893123',
      b'\xf1\x8704L906026DE\xf1\x895418',
+      b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026HT\xf1\x893617',
      b'\xf1\x875NA907115E \xf1\x890003',
+      b'\xf1\x875NA907115E \xf1\x890005',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x870D9300043  \xf1\x895202',
+      b'\xf1\x870DL300011N \xf1\x892014',
      b'\xf1\x870DL300012M \xf1\x892107',
      b'\xf1\x870DL300012N \xf1\x892110',
      b'\xf1\x870DL300013G \xf1\x892119',
    ],
    (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\0161213001211001205212111052100',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\0161213001211001205212112052100',
+      b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
+      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
      b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
    ],
    (Ecu.fwdRadar, 0x757, None): [
      b'\xf1\x872Q0907572Q \xf1\x890342',
      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
    ],
  },
  CAR.SKODA_OCTAVIA_MK3: {
@@ -1149,6 +1180,7 @@ FW_VERSIONS = {
      b'\xf1\x8704L906026FP\xf1\x891196',
      b'\xf1\x8704L906026KB\xf1\x894071',
      b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x873G0906259  \xf1\x890004',
      b'\xf1\x873G0906259B \xf1\x890002',
      b'\xf1\x873G0906264A \xf1\x890002',
    ],
@@ -1158,12 +1190,14 @@ FW_VERSIONS = {
      b'\xf1\x870D9300012  \xf1\x894940',
      b'\xf1\x870D9300041H \xf1\x894905',
      b'\xf1\x870GC300043  \xf1\x892301',
+      b'\xf1\x870D9300043F \xf1\x895202',
    ],
    (Ecu.srs, 0x715, None): [
      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
      b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
      b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
@@ -123,9 +123,6 @@ class Controls:
    elif self.mads_ndlob:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISABLE_DISENGAGE_LATERAL_ON_BRAKE

-    if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
-      self.CP.dashcamOnly = False
-
    # read params
    self.is_metric = self.params.get_bool("IsMetric")
    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
@@ -302,8 +299,9 @@ class Controls:

    # Alert if fan isn't spinning for 5 seconds
    if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
-      if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
-        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
+      if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
+        # allow enough time for the fan controller in the panda to recover from stalls
+        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
          self.events.add(EventName.fanMalfunction)
      else:
        self.last_functional_fan_frame = self.sm.frame
@@ -292,7 +292,7 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
  rpy = sm['liveCalibration'].rpyCalib
  yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
  pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
-  angles = f"Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°"
+  angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
  return NormalPermanentAlert("Calibration Invalid", angles)


@@ -317,9 +317,9 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM


 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  text = "Cruise Mode Disabled"
+  text = "Enable Adaptive Cruise to Engage"
  if CP.carName == "honda":
-    text = "Main Switch Off"
+    text = "Enable Main Switch to Engage"
  return NoEntryAlert(text)


@@ -79,10 +79,10 @@ class LatControlTorque(LatControl):
      error = setpoint - measurement
      gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
      pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,
-                                                     lateral_accel_deadzone, CS.vEgo, friction_compensation=False)
+                                                     lateral_accel_deadzone, friction_compensation=False)
      ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params,
                                          desired_lateral_accel - actual_lateral_accel,
-                                          lateral_accel_deadzone, CS.vEgo, friction_compensation=True)
+                                          lateral_accel_deadzone, friction_compensation=True)

      freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
      output_torque = self.pid.update(pid_log.error,
@@ -138,8 +138,9 @@ class LongitudinalPlanner:
    self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol, x, v, a, j, prev_accel_constraint)

    self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
    self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
-    self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
+    self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
    self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)

    # TODO counter is only needed because radar is glitchy, remove once radar is gone
@@ -22,6 +22,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
+  uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
  pm.send('uiPlan', ui_send)

 def plannerd_thread(sm=None, pm=None):
@@ -74,7 +74,7 @@ if __name__ == "__main__":

        elif msg.which() == "carParams":
          CP = msg.carParams
-          car_fw = CP.carFw
+          car_fw = [fw for fw in CP.carFw if not fw.logging]
          if len(car_fw) == 0:
            print("no fw")
            break
@@ -1,6 +1,3 @@
-ubloxd
-ubloxd_test
 params_learner
 paramsd
 locationd
-test/test_glonass_runner
@@ -1,20 +1,6 @@
 Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')

-loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
-
-if GetOption('kaitai'):
-  generated = Dir('generated').srcnode().abspath
-  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
-  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
-  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
-  glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
-
-  # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
-  patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
-  env.Depends(patch, glonass)
-
-glonass_obj = env.Object('generated/glonass.cpp')
-env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp",  glonass_obj], LIBS=loc_libs)
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']

 ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
 locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
@@ -25,7 +11,4 @@ lenv.Depends(locationd, libkf)

 if File("liblocationd.cc").exists():
  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
-
-if GetOption('test'):
-  env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])
+  lenv.Depends(liblocationd, libkf)
@@ -28,7 +28,7 @@ from selfdrive.locationd.models.gnss_kf import States as GStates
 from system.swaglog import cloudlog

 MAX_TIME_GAP = 10
-EPHEMERIS_CACHE = 'LaikadEphemeris'
+EPHEMERIS_CACHE = 'LaikadEphemerisV2'
 DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
 CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
@@ -97,19 +97,25 @@ class Laikad:

  def get_lsq_fix(self, t, measurements):
    if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
-      min_measurements = 7 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 6
-      position_solution, pr_residuals = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
+      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4
+      position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
      if len(position_solution) < 3:
        return None
      position_estimate = position_solution[:3]
-      #TODO median abs residual is decent estimate of std, can be improved with measurements stds and/or DOP
-      position_std = np.median(np.abs(pr_residuals)) * np.ones(3)
-      velocity_solution, prr_residuals = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
+
+      position_std_residual = np.median(np.abs(pr_residuals))
+      position_std = np.median(np.abs(pos_std))/10
+      position_std = max(position_std_residual, position_std) * np.ones(3)
+
+      velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
      if len(velocity_solution) < 3:
        return None
-
      velocity_estimate = velocity_solution[:3]
-      velocity_std = np.median(np.abs(prr_residuals)) * np.ones(3)
+
+      velocity_std_residual = np.median(np.abs(prr_residuals))
+      velocity_std = np.median(np.abs(vel_std))/10
+      velocity_std = max(velocity_std, velocity_std_residual) * np.ones(3)
+
      return position_estimate, position_std, velocity_estimate, velocity_std

  def is_good_report(self, gnss_msg):
@@ -187,10 +193,10 @@ class Laikad:
    elif self.is_good_report(gnss_msg):

      week, tow, new_meas = self.read_report(gnss_msg)
+      self.gps_week = week
      if len(new_meas) == 0:
        return None

-      self.gps_week = week
      t = gnss_mono_time * 1e-9
      if week > 0:
        self.got_first_gnss_msg = True
@@ -14,7 +14,7 @@
 #include "common/timing.h"
 #include "common/util.h"

-#include "selfdrive/sensord/sensors/constants.h"
+#include "system/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2
 #define SENSOR_DECIMATION 10
 #include "selfdrive/locationd/models/live_kf.h"
@@ -160,7 +160,7 @@ class TestLaikad(unittest.TestCase):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
    correct_msgs = verify_messages(self.logs, laikad)

-    correct_msgs_expected = 554
+    correct_msgs_expected = 559
    self.assertEqual(correct_msgs_expected, len(correct_msgs))
    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

@@ -180,7 +180,7 @@ class TestLaikad(unittest.TestCase):
    laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
    # Disable fetch_orbits to test NAV only
    correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 554
+    correct_msgs_expected = 559
    self.assertEqual(correct_msgs_expected, len(correct_msgs))
    self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

@@ -195,8 +195,8 @@ class TestLaikad(unittest.TestCase):
    downloader_mock.side_effect = DownloadFailed
    laikad = Laikad(auto_update=False)
    correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(0, len(correct_msgs))
-    self.assertEqual(0, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    self.assertEqual(255, len(correct_msgs))
+    self.assertEqual(255, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))

  def test_laika_get_orbits(self):
    laikad = Laikad(auto_update=False)
@@ -282,7 +282,7 @@ class TestLaikad(unittest.TestCase):
      gm = msg.gnssMeasurements
      if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
        cnt += 1
-    self.assertEqual(cnt, 554)
+    self.assertEqual(cnt, 559)

  def dict_has_values(self, dct):
    self.assertGreater(len(dct), 0)
@@ -32,7 +32,7 @@ def manager_init() -> None:
  set_time(cloudlog)

  # save boot log
-  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
+  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))

  params = Params()
  params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
@@ -34,12 +34,12 @@ procs = [

  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
-  NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
-  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
+  NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
  NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
-  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
+  NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
@@ -47,21 +47,21 @@ procs = [
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
  PythonProcess("torqued", "selfdrive.locationd.torqued"),
  PythonProcess("controlsd", "selfdrive.controls.controlsd"),
-  PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
+  PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
  PythonProcess("laikad", "selfdrive.locationd.laikad"),
-  PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI),
+  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI),
  PythonProcess("navd", "selfdrive.navd.navd"),
  PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
  PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
-  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
-  PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
+  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
+  PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
  PythonProcess("plannerd", "selfdrive.controls.plannerd"),
  PythonProcess("radard", "selfdrive.controls.radard"),
  PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
  PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
-  PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
+  PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
  PythonProcess("statsd", "selfdrive.statsd", offroad=True),

  PythonProcess("gpxd", "selfdrive.gpxd.gpxd"),
@@ -70,7 +70,7 @@ lenv.Program('_dmonitoringmodeld', [
 if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
  fn = File("models/supercombo").abspath

-  tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"]
+  tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
  if not GetOption('pc_thneed'):
    # use FLOAT16 on device for speed + don't cache the CL kernels for space
    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
@@ -2,7 +2,7 @@
 To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)

 ## Supercombo
-### Supercombo input format (Full size: 393738 x float32)
+### Supercombo input format (Full size: 799906 x float32)
 * **image stream**
  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
@@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
      * Channel 4 represents the half-res U channel
      * Channel 5 represents the half-res V channel
 * **desire**
-  * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
 * **traffic convention**
  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **recurrent state**
-  * The recurrent state vector that is fed back into the GRU for temporal context : 512
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128


 ### Supercombo output format (Full size: XXX x float32)
@@ -13,7 +13,7 @@ from system.swaglog import cloudlog
 from system.hardware import HARDWARE
 from common.file_helpers import atomic_write_in_dir
 from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
-from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S


 class METRIC_TYPE:
@@ -1 +1 @@
-ba947edbb131a2a36ced7c490dfcf3280ad5b167
+ab64afd1abd1059c14f50c67b51e5ef89029f216
@@ -449,9 +449,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
    if CP.openpilotLongitudinalControl:
      params.put_bool("ExperimentalLongitudinalEnabled", True)

-    # controlsd process configuration assume all routes are out of dashcam
-    params.put_bool("DashcamOverride", True)
-

 def python_replay_process(cfg, lr, fingerprint=None):
  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
@@ -1 +1 @@
-70753c5f491de7432ff22f4ef560820ce9919b2e
+f9c7e05b836c4bff364978752e82d64b90f9d6e6
@@ -29,12 +29,12 @@ source_segments = [
  ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
-  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.BRONCO_SPORT_MK1
  ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
  ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.CX9_2021

  # Enable when port is tested and dashcamOnly is no longer set
+  #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),  # FORD.BRONCO_SPORT_MK1
  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
  #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.PASSAT_NMS
 ]
@@ -53,7 +53,6 @@ segments = [
  ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
  ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),
-  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),
  ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
  ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
  ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
@@ -15,7 +15,7 @@ from common.basedir import BASEDIR
 from common.timeout import Timeout
 from common.params import Params
 from selfdrive.controls.lib.events import EVENTS, ET
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.test.helpers import set_params_enabled, release_only
 from tools.lib.logreader import LogReader

@@ -28,7 +28,7 @@ CONFIGS = [
    },
    ignore=[],
    command="./ubloxd",
-    path="selfdrive/locationd/",
+    path="system/ubloxd",
    segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
    wait_for_response=True
  ),
@@ -18,7 +18,7 @@ from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from system.hardware import HARDWARE, TICI, AGNOS
-from selfdrive.loggerd.config import get_available_percent
+from system.loggerd.config import get_available_percent
 from selfdrive.statsd import statlog
 from system.swaglog import cloudlog
 from selfdrive.thermald.power_monitoring import PowerMonitoring
@@ -10,7 +10,7 @@ import glob
 from typing import NoReturn

 from common.file_helpers import mkdirs_exists_ok
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 import selfdrive.sentry as sentry
 from system.swaglog import cloudlog
 from system.version import get_commit
@@ -44,7 +44,6 @@ assets_src = "#selfdrive/assets/assets.qrc"
 qt_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
 qt_env.Depends(assets, Glob('#selfdrive/assets/*', exclude=[assets, assets_src, "#selfdrive/assets/assets.o"]))
 asset_obj = qt_env.Object("assets", assets)
-Export('asset_obj')

 # build soundd
 qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs)
@@ -27,7 +27,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
 }

 DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
-  face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
+  face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
 }

 void DriverViewScene::showEvent(QShowEvent* event) {
@@ -1086,7 +1086,10 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
  const int arc_l = 133;
  const float arc_t_default = 6.7;
  const float arc_t_extend = 12.0;
-  QColor arc_color = QColor::fromRgbF(0.09, 0.945, 0.26, 0.4*(1.0-dm_fade_state)*(s->engaged()));
+  QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(),
+                                      0.545 + 0.4 * s->engaged(),
+                                      0.545 - 0.285 * s->engaged(),
+                                      0.4 * (1.0 - dm_fade_state));
  float delta_x = -scene.driver_pose_sins[1] * arc_l / 2;
  float delta_y = -scene.driver_pose_sins[0] * arc_l / 2;
  painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));
@@ -11,14 +11,11 @@
 #define NVME "/dev/nvme0n1"
 #define USERDATA "/dev/disk/by-partlabel/userdata"

-void Reset::doReset() {
-  // best effort to wipe nvme and sd card
+void Reset::doErase() {
+  // best effort to wipe nvme
  std::system("sudo umount " NVME);
  std::system("yes | sudo mkfs.ext4 " NVME);

-  // we handle two cases here
-  //  * user-prompted factory reset
-  //  * recovering from a corrupt userdata by formatting
  int rm = std::system("sudo rm -rf /data/*");
  std::system("sudo umount " USERDATA);
  int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA);
@@ -30,22 +27,26 @@ void Reset::doReset() {
  rebootBtn->show();
 }

+void Reset::startReset() {
+  body->setText(tr("Resetting device...\nThis may take up to a minute."));
+  rejectBtn->hide();
+  rebootBtn->hide();
+  confirmBtn->hide();
+#ifdef __aarch64__
+  QTimer::singleShot(100, this, &Reset::doErase);
+#endif
+}
+
 void Reset::confirm() {
  const QString confirm_txt = tr("Are you sure you want to reset your device?");
  if (body->text() != confirm_txt) {
    body->setText(confirm_txt);
  } else {
-    body->setText(tr("Resetting device..."));
-    rejectBtn->hide();
-    rebootBtn->hide();
-    confirmBtn->hide();
-#ifdef __aarch64__
-    QTimer::singleShot(100, this, &Reset::doReset);
-#endif
+    startReset();
  }
 }

-Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
+Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
  QVBoxLayout *main_layout = new QVBoxLayout(this);
  main_layout->setContentsMargins(45, 220, 45, 45);
  main_layout->setSpacing(0);
@@ -56,7 +57,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {

  main_layout->addSpacing(60);

-  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
+  body = new QLabel(tr("Press confirm to erase all content and settings. Press cancel to resume boot."));
  body->setWordWrap(true);
  body->setStyleSheet("font-size: 80px; font-weight: light;");
  main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
@@ -82,10 +83,16 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
  blayout->addWidget(confirmBtn);
  QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm);

+  bool recover = mode == ResetMode::RECOVER;
  rejectBtn->setVisible(!recover);
  rebootBtn->setVisible(recover);
  if (recover) {
-    body->setText(tr("Unable to mount data partition. Press confirm to reset your device."));
+    body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."));
+  }
+
+  // automatically start if we're just finishing up an ABL reset
+  if (mode == ResetMode::FORMAT) {
+    startReset();
  }

  setStyleSheet(R"(
@@ -108,9 +115,17 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
 }

 int main(int argc, char *argv[]) {
-  bool recover = argc > 1 && strcmp(argv[1], "--recover") == 0;
+  ResetMode mode = ResetMode::USER_RESET;
+  if (argc > 1) {
+    if (strcmp(argv[1], "--recover") == 0) {
+      mode = ResetMode::RECOVER;
+    } else if (strcmp(argv[1], "--format") == 0) {
+      mode = ResetMode::FORMAT;
+    }
+  }
+
  QApplication a(argc, argv);
-  Reset reset(recover);
+  Reset reset(mode);
  setMainWindow(&reset);
  return a.exec();
 }
@@ -2,18 +2,25 @@
 #include <QPushButton>
 #include <QWidget>

+enum ResetMode {
+  USER_RESET, // user initiated a factory reset from openpilot
+  RECOVER,    // userdata is corrupt for some reason, give a chance to recover
+  FORMAT,     // finish up an ABL factory reset
+};
+
 class Reset : public QWidget {
  Q_OBJECT

 public:
-  explicit Reset(bool recover = false, QWidget *parent = 0);
+  explicit Reset(ResetMode mode, QWidget *parent = 0);

 private:
  QLabel *body;
  QPushButton *rejectBtn;
  QPushButton *rebootBtn;
  QPushButton *confirmBtn;
-  void doReset();
+  void doErase();
+  void startReset();

 private slots:
  void confirm();
@@ -34,7 +34,7 @@ bool is_elf(char *fname) {
 void Setup::download(QString url) {
  CURL *curl = curl_easy_init();
  if (!curl) {
-    emit finished(false);
+    emit finished(url, tr("Something went wrong. Reboot the device."));
    return;
  }

@@ -53,15 +53,24 @@ void Setup::download(QString url) {
  curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
  curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
+  curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);

  int ret = curl_easy_perform(curl);
  long res_status = 0;
  curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
-  if (ret == CURLE_OK && res_status == 200 && is_elf(tmpfile)) {
-    rename(tmpfile, "/tmp/installer");
-    emit finished(true);
+
+  if (ret != CURLE_OK || res_status != 200) {
+    emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
+  } else if (!is_elf(tmpfile)) {
+    emit finished(url, tr("No custom software found at this URL."));
  } else {
-    emit finished(false);
+    rename(tmpfile, "/tmp/installer");
+
+    FILE *fp_url = fopen("/tmp/installer_url", "w");
+    fprintf(fp_url, "%s", url.toStdString().c_str());
+    fclose(fp_url);
+
+    emit finished(url);
  }

  curl_slist_free_all(list);
@@ -234,10 +243,10 @@ QWidget * Setup::downloading() {
  return widget;
 }

-QWidget * Setup::download_failed() {
+QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
  QWidget *widget = new QWidget();
  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 225, 55, 55);
+  main_layout->setContentsMargins(55, 185, 55, 55);
  main_layout->setSpacing(0);

  QLabel *title = new QLabel(tr("Download Failed"));
@@ -246,7 +255,13 @@ QWidget * Setup::download_failed() {

  main_layout->addSpacing(67);

-  QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
+  url->setWordWrap(true);
+  url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
+  url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
+  main_layout->addWidget(url);
+
+  main_layout->addSpacing(48);
+
  body->setWordWrap(true);
  body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
  body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
@@ -271,7 +286,7 @@ QWidget * Setup::download_failed() {
  restart->setProperty("primary", true);
  blayout->addWidget(restart);
  QObject::connect(restart, &QPushButton::clicked, this, [=]() {
-    setCurrentIndex(2);
+    setCurrentIndex(1);
  });

  widget->setStyleSheet(R"(
@@ -304,15 +319,19 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
  downloading_widget = downloading();
  addWidget(downloading_widget);

-  failed_widget = download_failed();
+  QLabel *url_label = new QLabel();
+  QLabel *body_label = new QLabel();
+  failed_widget = download_failed(url_label, body_label);
  addWidget(failed_widget);

-  QObject::connect(this, &Setup::finished, [=](bool success) {
-    // hide setup on success
-    qDebug() << "finished" << success;
-    if (success) {
+  QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
+    qDebug() << "finished" << url << error;
+    if (error.isEmpty()) {
+      // hide setup on success
      QTimer::singleShot(3000, this, &QWidget::hide);
    } else {
+      url_label->setText(url);
+      body_label->setText(error);
      setCurrentWidget(failed_widget);
    }
  });
@@ -1,5 +1,6 @@
 #pragma once

+#include <QLabel>
 #include <QStackedWidget>
 #include <QString>
 #include <QWidget>
@@ -15,13 +16,13 @@ private:
  QWidget *getting_started();
  QWidget *network_setup();
  QWidget *downloading();
-  QWidget *download_failed();
+  QWidget *download_failed(QLabel *url, QLabel *body);

  QWidget *failed_widget;
  QWidget *downloading_widget;

 signals:
-  void finished(bool success);
+  void finished(const QString &url, const QString &error = "");

 public slots:
  void nextPage();
@@ -767,18 +767,10 @@ location set</source>
        <source>Are you sure you want to reset your device?</source>
        <translation>Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest?</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>Gerät wird zurückgesetzt...</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>System auf Werkseinstellungen zurücksetzen</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Zurücksetzen auf Werkseinstellungen wurde ausgewählt. Drücke Annehmen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um mit dem Starten des Gerätes fortzufahren.</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>Abbrechen</translation>
@@ -792,8 +784,17 @@ location set</source>
        <translation>Bestätigen</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>Datenpartition kann nicht geöffnet werden. Drücke Annehmen, um dein Gerät auf Werkseinstellungen zurückzusetzen.</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -1235,6 +1236,14 @@ Reboot now?</source>
        <source>Start over</source>
        <translation>Von neuem beginnen</translation>
    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -765,18 +765,10 @@ location set</source>
        <source>Are you sure you want to reset your device?</source>
        <translation>初期化してもよろしいですか？</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>デバイスが初期化されます...</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>システムを初期化</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>キャンセル</translation>
@@ -790,8 +782,17 @@ location set</source>
        <translation>確認</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -1233,6 +1234,14 @@ Reboot now?</source>
        <source>Start over</source>
        <translation>最初からやり直す</translation>
    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -518,7 +518,7 @@ location set</source>
    </message>
    <message>
        <source>Waiting for GPS</source>
-        <translation>GPS를 기다리는 중</translation>
+        <translation>GPS 수신중 입니다</translation>
    </message>
 </context>
 <context>
@@ -765,18 +765,10 @@ location set</source>
        <source>Are you sure you want to reset your device?</source>
        <translation>장치를 초기화 하시겠습니까?</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>장치 초기화중...</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>장치 초기화</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요.</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>취소</translation>
@@ -790,8 +782,18 @@ location set</source>
        <translation>확인</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다.</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 장치를 초기화하려면 확인을 누르세요.</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>모든 콘텐츠와 설정을 지우려면 확인을 누르세요. 부팅을 재개하려면 취소를 누르세요.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>장치 초기화 중...
+최대 1분이 소요될 수 있습니다.</translation>
    </message>
 </context>
 <context>
@@ -1233,6 +1235,14 @@ Reboot now?</source>
        <source>Start over</source>
        <translation>다시 시작</translation>
    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>문제가 발생했습니다. 장치를 재부팅하세요.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다.</translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -769,18 +769,10 @@ trabalho definido</translation>
        <source>Are you sure you want to reset your device?</source>
        <translation>Tem certeza que quer resetar seu dispositivo?</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>Resetando dispositivo...</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>Resetar Sistema</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot.</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>Cancelar</translation>
@@ -794,8 +786,18 @@ trabalho definido</translation>
        <translation>Confirmar</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo.</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo.</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>Redefinindo o dispositivo
+Isso pode levar até um minuto.</translation>
    </message>
 </context>
 <context>
@@ -1237,6 +1239,14 @@ Reboot now?</source>
        <source>Start over</source>
        <translation>Inicializar</translation>
    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>Não há software personalizado nesta URL.</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Algo deu errado. Reinicie o dispositivo.</translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -311,18 +311,6 @@
        <source>Installing...</source>
        <translation>กำลังติดตั้ง...</translation>
    </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>กำลังรับข้อมูล: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>การแก้ไขเดลต้า: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>กำลังอัปเดตไฟล์: </translation>
-    </message>
 </context>
 <context>
    <name>MapETA</name>
@@ -586,18 +574,10 @@ location set</source>
        <source>Are you sure you want to reset your device?</source>
        <translation>คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์?</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>กำลังรีเซ็ตอุปกรณ์...</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>รีเซ็ตระบบ</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>ยกเลิก</translation>
@@ -611,8 +591,18 @@ location set</source>
        <translation>ยืนยัน</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ</translation>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>กำลังรีเซ็ตอุปกรณ์...
+อาจใช้เวลาถึงหนึ่งนาที</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ</translation>
    </message>
 </context>
 <context>
@@ -684,18 +674,6 @@ location set</source>
        <source>Waiting for internet</source>
        <translation>กำลังรอสัญญาณอินเตอร์เน็ต</translation>
    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>เลือกซอฟต์แวร์ที่จะติดตั้ง</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>กล้องติดรถยนต์</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>ซอฟต์แวร์ที่กำหนดเอง</translation>
-    </message>
    <message>
        <source>Enter URL</source>
        <translation>ป้อน URL</translation>
@@ -724,6 +702,14 @@ location set</source>
        <source>Start over</source>
        <translation>เริ่มต้นใหม่</translation>
    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>มีบางอย่างผิดพลาด รีบูตอุปกรณ์</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้</translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -763,18 +763,10 @@ location set</source>
        <source>Are you sure you want to reset your device?</source>
        <translation>您确定要重置您的设备吗？</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>正在重置设备……</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>恢复出厂设置</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>取消</translation>
@@ -788,8 +780,17 @@ location set</source>
        <translation>确认</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>无法挂载数据分区。 确认以重置您的设备。</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -1231,6 +1232,14 @@ Reboot now?</source>
        <source>Start over</source>
        <translation>重来</translation>
    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -278,6 +278,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
        <source>Power Off</source>
        <translation>關機</translation>
    </message>
+    <message>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
        <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
@@ -765,18 +769,10 @@ location set</source>
        <source>Are you sure you want to reset your device?</source>
        <translation>您確定要重置你的設備嗎？</translation>
    </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>重置設備中…</translation>
-    </message>
    <message>
        <source>System Reset</source>
        <translation>系統重置</translation>
    </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。</translation>
-    </message>
    <message>
        <source>Cancel</source>
        <translation>取消</translation>
@@ -790,8 +786,17 @@ location set</source>
        <translation>確認</translation>
    </message>
    <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>無法掛載數據分區。請按確認重置您的設備。</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>按下確認以刪除所有內容及設定 按下取消來繼續開機</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>設備重置中 此過程可能需要幾分鐘</translation>
    </message>
 </context>
 <context>
@@ -1233,6 +1238,14 @@ Reboot now?</source>
        <source>Start over</source>
        <translation>重新開始</translation>
    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>無法在此URL找到定制的軟體</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>發生了一些錯誤 請重新啟動您的設備</translation>
+    </message>
 </context>
 <context>
    <name>SetupWidget</name>
@@ -1578,11 +1591,11 @@ Reboot now?</source>
    </message>
    <message>
        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
+        <translation>未來可能會推出openpilot縱向控制</translation>
    </message>
    <message>
        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本</translation>
    </message>
    <message>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
@@ -24,13 +24,10 @@ BASE_CONFIG = [
  AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
  AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
  AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
-  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
  AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
  AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
  AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
  AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
-  AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
  AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
  AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
  AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
@@ -41,7 +38,6 @@ BASE_CONFIG = [
  AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
  AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
  AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
-  AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
  AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
  AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
  AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
@@ -64,6 +60,11 @@ BASE_CONFIG = [

 CONFIGS = {
  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
@@ -72,11 +73,13 @@ CONFIGS = {
  ],
  "tizi": [
    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
-    AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111),
-    AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111),
-    AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111),
-    AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
@@ -91,12 +94,6 @@ CONFIGS = {
    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
-
-    *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)),
-    *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)),
-    *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)),
-    *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)),
-    *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)),
  ],
 }

@@ -3,6 +3,7 @@ import unittest
 import time
 import math
 from dataclasses import dataclass
+from tabulate import tabulate

 from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
@@ -20,7 +21,7 @@ class Proc:

 PROCS = [
  Proc('camerad', 2.15),
-  Proc('modeld', 1.15, atol=0.2),
+  Proc('modeld', 0.93, atol=0.2),
  Proc('dmonitoringmodeld', 0.4),
  Proc('encoderd', 0.23),
 ]
@@ -58,15 +59,16 @@ class TestPowerDraw(unittest.TestCase):

    manager_cleanup()

-    print("-"*35)
-    print(f"Baseline {baseline:.2f}W\n")
+    tab = []
+    tab.append(['process', 'expected (W)', 'current (W)'])
    for proc in PROCS:
      cur = used[proc.name]
      expected = proc.power
-      print(f"{proc.name.ljust(20)} {expected:.2f}W  {cur:.2f}W")
+      tab.append([proc.name, round(expected, 2), round(cur, 2)])
      with self.subTest(proc=proc.name):
        self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
-    print("-"*35)
+    print(tabulate(tab))
+    print(f"Baseline {baseline:.2f}W\n")


 if __name__ == "__main__":
@@ -3,7 +3,7 @@

 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"


 static kj::Array<capnp::word> build_boot_log() {
@@ -3,8 +3,8 @@ import os
 import shutil
 import threading
 from system.swaglog import cloudlog
-from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent
-from selfdrive.loggerd.uploader import listdir_by_creation
+from system.loggerd.config import ROOT, get_available_bytes, get_available_percent
+from system.loggerd.uploader import listdir_by_creation

 MIN_BYTES = 5 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
@@ -1,5 +1,5 @@
 #include <cassert>
-#include "selfdrive/loggerd/encoder/encoder.h"
+#include "system/loggerd/encoder/encoder.h"

 VideoEncoder::~VideoEncoder() {}

@@ -7,7 +7,7 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/video_writer.h"
 #include "system/camerad/cameras/camera_common.h"

 #define V4L2_BUF_FLAG_KEYFRAME 8
@@ -1,6 +1,6 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"

-#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
+#include "system/loggerd/encoder/ffmpeg_encoder.h"

 #include <fcntl.h>
 #include <unistd.h>
@@ -11,8 +11,8 @@ extern "C" {
 #include <libavutil/imgutils.h>
 }

-#include "selfdrive/loggerd/encoder/encoder.h"
-#include "selfdrive/loggerd/loggerd.h"
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/loggerd.h"

 class FfmpegEncoder : public VideoEncoder {
 public:
@@ -2,7 +2,7 @@
 #include <sys/ioctl.h>
 #include <poll.h>

-#include "selfdrive/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
 #include "common/util.h"
 #include "common/timing.h"

@@ -1,7 +1,7 @@
 #pragma once

 #include "common/queue.h"
-#include "selfdrive/loggerd/encoder/encoder.h"
+#include "system/loggerd/encoder/encoder.h"

 #define BUF_IN_COUNT 7
 #define BUF_OUT_COUNT 6
@@ -1,4 +1,4 @@
-#include "selfdrive/loggerd/loggerd.h"
+#include "system/loggerd/loggerd.h"

 ExitHandler do_exit;

@@ -1,4 +1,4 @@
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"

 #include <sys/stat.h>
 #include <unistd.h>
--- a/Show More
+++ b/Show More