Merge branch 'upstream/openpilot/master' into sync-20250125

# Conflicts: # opendbc_repo # panda # selfdrive/modeld/fill_model_msg.py # selfdrive/pandad/pandad.cc # selfdrive/test/process_replay/ref_commit # selfdrive/ui/qt/home.h # selfdrive/ui/qt/offroad/developer_panel.cc # selfdrive/ui/qt/offroad/developer_panel.h # selfdrive/ui/tests/test_ui/run.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts
2026-06-09 22:24:46 +08:00 · 2025-01-25 21:35:05 -05:00
parent c51e74e6af c57f535238
commit 7e5a84b897
82 changed files with 1031 additions and 834 deletions
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -6,12 +6,12 @@

 ExitHandler do_exit;

-static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
+static std::vector<std::string> get_services(const std::string &whitelist_str, bool zmq_to_msgq) {
  std::vector<std::string> service_list;
  for (const auto& it : services) {
    std::string name = it.second.name;
    bool in_whitelist = whitelist_str.find(name) != std::string::npos;
-    if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
+    if (zmq_to_msgq && !in_whitelist) {
      continue;
    }
    service_list.push_back(name);
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -8,6 +8,7 @@ import uuid
 import socket
 import logging
 import traceback
+import numpy as np
 from threading import local
 from collections import OrderedDict
 from contextlib import contextmanager
@@ -15,6 +16,8 @@ from contextlib import contextmanager
 LOG_TIMESTAMPS = "LOG_TIMESTAMPS" in os.environ

 def json_handler(obj):
+  if isinstance(obj, np.bool_):
+    return bool(obj)
  # if isinstance(obj, (datetime.date, datetime.time)):
  #   return obj.isoformat()
  return repr(obj)
--- a/common/params.cc
+++ b/common/params.cc
@@ -89,6 +89,7 @@ private:

 std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AdbEnabled", PERSISTENT},
    {"AlwaysOnDM", PERSISTENT},
    {"ApiCache_Device", PERSISTENT},
    {"AssistNowToken", PERSISTENT},
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -10,7 +10,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
@@ -128,7 +128,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Carnival 2022-24[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<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)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
@@ -260,7 +260,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -63,3 +63,12 @@ A good pull request has all of the following:
 * Connect your device to Wi-Fi regularly, so that we can pull data for training better driving models.
 * Run the `nightly` branch and report issues. This branch is like `master` but it's built just like a release.
 * Annotate images in the [comma10k dataset](https://github.com/commaai/comma10k).
+
+## Contributing Training Data
+
+### A guide for forks
+
+In order for your fork's data to be eligible for the training set:
+* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
+* **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -29,6 +29,22 @@ Here's an example command for connecting to your device using its tethered conne

 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).

+
+## ADB
+
+In order to use ADB on your device, you'll need to enable it in the device's settings.
+
+* Enable ADB in your device's settings
+* Connect to your device
+    * `adb shell` over USB
+    * `adb connect` over WiFi
+    * Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
+
+> [!NOTE]
+> The default port for ADB is 5555 on the comma 3/3X.
+
+For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
+
 ### Notes

 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.4"
+  export AGNOS_VERSION="11.6"
 fi

 export STAGING_ROOT="/data/safe_staging"
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/2
+++ b/2
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -165,7 +165,7 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"

--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -42,19 +42,19 @@ class CarSpecificEvents:
    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)

  def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
-    if self.CP.carName in ('body', 'mock'):
+    if self.CP.brand in ('body', 'mock'):
      events = Events()

-    elif self.CP.carName in ('subaru', 'mazda'):
+    elif self.CP.brand in ('subaru', 'mazda'):
      events = self.create_common_events(CS, CS_prev)

-    elif self.CP.carName == 'ford':
+    elif self.CP.brand == 'ford':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])

-    elif self.CP.carName == 'nissan':
+    elif self.CP.brand == 'nissan':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])

-    elif self.CP.carName == 'chrysler':
+    elif self.CP.brand == 'chrysler':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])

      # Low speed steer alert hysteresis logic
@@ -65,7 +65,7 @@ class CarSpecificEvents:
      if self.low_speed_alert:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.carName == 'honda':
+    elif self.CP.brand == 'honda':
      events = self.create_common_events(CS, CS_prev, pcm_enable=False)

      if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
@@ -86,7 +86,7 @@ class CarSpecificEvents:
      if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
        events.add(EventName.manualRestart)

-    elif self.CP.carName == 'toyota':
+    elif self.CP.brand == 'toyota':
      events = self.create_common_events(CS, CS_prev)

      if self.CP.openpilotLongitudinalControl:
@@ -101,7 +101,7 @@ class CarSpecificEvents:
            # while in standstill, send a user alert
            events.add(EventName.manualRestart)

-    elif self.CP.carName == 'gm':
+    elif self.CP.brand == 'gm':
      # The ECM allows enabling on falling edge of set, but only rising edge of resume
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
                                                                   GearShifter.eco, GearShifter.manumatic],
@@ -120,7 +120,7 @@ class CarSpecificEvents:
      if CS.vEgo < self.CP.minSteerSpeed:
        events.add(EventName.belowSteerSpeed)

-    elif self.CP.carName == 'volkswagen':
+    elif self.CP.brand == 'volkswagen':
      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                         pcm_enable=self.CP.pcmCruise,
                                         enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
@@ -143,7 +143,7 @@ class CarSpecificEvents:
      # if CC.eps_timer_soft_disable_alert:  # type: ignore[attr-defined]
      #   events.add(EventName.steerTimeLimit)

-    elif self.CP.carName == 'hyundai':
+    elif self.CP.brand == 'hyundai':
      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
      # Main button also can trigger an engagement on these cars
@@ -160,7 +160,7 @@ class CarSpecificEvents:
        events.add(EventName.belowSteerSpeed)

    else:
-      raise ValueError(f"Unsupported car: {self.CP.carName}")
+      raise ValueError(f"Unsupported car: {self.CP.brand}")

    return events

--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -199,7 +199,7 @@ class Car:

    # Update carState from CAN
    CS = self.CI.update(can_list)
-    if self.CP.carName == 'mock':
+    if self.CP.brand == 'mock':
      CS = self.mock_carstate.update(CS)

    # Update radar tracks from CAN
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -367,11 +367,11 @@ class TestCarModelBase(unittest.TestCase):
      if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
        self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())

-      if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
+      if not (self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH)):
        if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged:
          self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev())

-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
        if self.safety.get_acc_main_on() != prev_panda_acc_main_on:
          self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on())

@@ -426,7 +426,7 @@ class TestCarModelBase(unittest.TestCase):
        # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
        # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but
        # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages).
-        if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
+        if self.CP.brand == "honda" and not (self.CP.flags & HondaFlags.BOSCH):
          # only the rising edges are expected to match
          if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
            checks['controlsAllowed'] += not self.safety.get_controls_allowed()
@@ -448,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
        if button_enable and not mismatch:
          self.safety.set_controls_allowed(False)

-      if self.CP.carName == "honda":
+      if self.CP.brand == "honda":
        checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()

      CS_prev = CS
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -14,7 +14,7 @@ def main():
  cloudlog.info("plannerd is waiting for CarParams")
  params = Params()
  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  cloudlog.info("plannerd got CarParams: %s", CP.brand)

  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP)
--- a/selfdrive/debug/adb.sh
+++ b/selfdrive/debug/adb.sh
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-PORT=5555
-
-setprop service.adb.tcp.port $PORT
-sudo systemctl start adbd
-
-IP=$(echo $SSH_CONNECTION | awk '{ print $3}')
-echo "then, connect on your computer:"
-echo "adb connect $IP:$PORT"
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -24,14 +24,16 @@ MIN_STD_SANITY_CHECK = 1e-5  # m or rad
 MAX_FILTER_REWIND_TIME = 0.8  # s
 MAX_SENSOR_TIME_DIFF = 0.1  # s
 YAWRATE_CROSS_ERR_CHECK_FACTOR = 30
-INPUT_INVALID_THRESHOLD = 0.5  # 0 bad inputs ignored
-TIMING_INVALID_THRESHOLD = 2.5  # 2 bad timings ignored
-INPUT_INVALID_DECAY = 0.9993  # ~10 secs to resume after exceeding allowed bad inputs by one (at 100hz)
-TIMING_INVALID_DECAY = 0.9990  # ~2 secs to resume after exceeding allowed bad timings by one (at 100hz)
+INPUT_INVALID_LIMIT = 2.0 # 1 (camodo) / 9 (sensor) bad input[s] ignored
+INPUT_INVALID_RECOVERY = 10.0 # ~10 secs to resume after exceeding allowed bad inputs by one
 POSENET_STD_INITIAL_VALUE = 10.0
 POSENET_STD_HIST_HALF = 20


+def calculate_invalid_input_decay(invalid_limit, recovery_time, frequency):
+  return (1 - 1 / (2 * invalid_limit)) ** (1 / (recovery_time * frequency))
+
+
 def init_xyz_measurement(measurement: capnp._DynamicStructBuilder, values: np.ndarray, stds: np.ndarray, valid: bool):
  assert len(values) == len(stds) == 3
  measurement.x, measurement.y, measurement.z = map(float, values)
@@ -269,11 +271,11 @@ def main():

  filter_initialized = False
  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
-  observation_timing_invalid = defaultdict(int)
  observation_input_invalid = defaultdict(int)

-  input_invalid_decay = {s: INPUT_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
-  timing_invalid_decay = {s: TIMING_INVALID_DECAY ** (100. / SERVICE_LIST[s].frequency) for s in critcal_services}
+  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
+  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
+  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}

  initial_pose = params.get("LocationFilterInitialState")
  if initial_pose is not None:
@@ -306,19 +308,20 @@ def main():
            continue

          if res == HandleLogResult.TIMING_INVALID:
-            observation_timing_invalid[which] += 1
+            print(f"Observation {which} ignored due to failed timing check")
+            observation_input_invalid[which] += 1
+            print(observation_input_invalid[which])
          elif res == HandleLogResult.INPUT_INVALID:
+            print(f"Observation {which} ignored due to failed sanity check")
            observation_input_invalid[which] += 1
          else:
            observation_input_invalid[which] *= input_invalid_decay[which]
-            observation_timing_invalid[which] *= timing_invalid_decay[which]
    else:
      filter_initialized = sm.all_checks() and sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

    if sm.updated["cameraOdometry"]:
-      critical_service_inputs_valid = all(observation_input_invalid[s] < INPUT_INVALID_THRESHOLD for s in critcal_services)
-      critical_service_timing_valid = all(observation_timing_invalid[s] < TIMING_INVALID_THRESHOLD for s in critcal_services)
-      inputs_valid = sm.all_valid() and critical_service_inputs_valid and critical_service_timing_valid
+      critical_service_inputs_valid = all(observation_input_invalid[s] < input_invalid_threshold[s] for s in critcal_services)
+      inputs_valid = sm.all_valid() and critical_service_inputs_valid
      sensors_valid = sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, SIMULATION)

      msg = estimator.get_msg(sensors_valid, inputs_valid, filter_initialized)
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -1,56 +0,0 @@
-import capnp
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestLocationdProc:
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
-              'accelerometer', 'gyroscope', 'magnetometer']
-
-  def setup_method(self):
-    self.pm = messaging.PubMaster(self.LLD_MSGS)
-
-    self.params = Params()
-    self.params.put_bool("UbloxAvailable", True)
-    managed_processes['locationd'].prepare()
-    managed_processes['locationd'].start()
-
-  def teardown_method(self):
-    managed_processes['locationd'].stop()
-
-  def get_msg(self, name, t):
-    try:
-      msg = messaging.new_message(name)
-    except capnp.lib.capnp.KjException:
-      msg = messaging.new_message(name, 0)
-
-    if name == "gpsLocationExternal":
-      msg.gpsLocationExternal.flags = 1
-      msg.gpsLocationExternal.hasFix = True
-      msg.gpsLocationExternal.verticalAccuracy = 1.0
-      msg.gpsLocationExternal.speedAccuracy = 1.0
-      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
-      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
-      msg.gpsLocationExternal.latitude = float(self.lat)
-      msg.gpsLocationExternal.longitude = float(self.lon)
-      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
-      msg.gpsLocationExternal.altitude = float(self.alt)
-    #if name == "gnssMeasurements":
-    #  msg.gnssMeasurements.measTime = t
-    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
-    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.positionECEF.valid = True
-    #  msg.gnssMeasurements.velocityECEF.value = []
-    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
-    #  msg.gnssMeasurements.velocityECEF.valid = True
-    elif name == 'cameraOdometry':
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
-    msg.logMonoTime = t
-    msg.valid = True
-    return msg
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -23,8 +23,10 @@ class Scenario(Enum):
  BASE = 'base'
  GYRO_OFF = 'gyro_off'
  GYRO_SPIKE_MIDWAY = 'gyro_spike_midway'
+  GYRO_CONSISTENT_SPIKES = 'gyro_consistent_spikes'
  ACCEL_OFF = 'accel_off'
  ACCEL_SPIKE_MIDWAY = 'accel_spike_midway'
+  ACCEL_CONSISTENT_SPIKES = 'accel_consistent_spikes'
  SENSOR_TIMING_SPIKE_MIDWAY = 'timing_spikes'
  SENSOR_TIMING_CONSISTENT_SPIKES = 'timing_consistent_spikes'

@@ -63,18 +65,20 @@ def run_scenarios(scenario, logs):
  elif scenario == Scenario.GYRO_OFF:
    logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.GYRO_SPIKE_MIDWAY:
+  elif scenario == Scenario.GYRO_SPIKE_MIDWAY or scenario == Scenario.GYRO_CONSISTENT_SPIKES:
    def gyro_spike(msg):
      msg.gyroscope.gyroUncalibrated.v[0] += 3.0
-    logs = modify_logs_midway(logs, 'gyroscope', 1, gyro_spike)
+    count = 1 if scenario == Scenario.GYRO_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'gyroscope', count, gyro_spike)

  elif scenario == Scenario.ACCEL_OFF:
    logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime)

-  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY:
+  elif scenario == Scenario.ACCEL_SPIKE_MIDWAY or scenario == Scenario.ACCEL_CONSISTENT_SPIKES:
    def acc_spike(msg):
-      msg.accelerometer.acceleration.v[0] += 10.0
-    logs = modify_logs_midway(logs, 'accelerometer', 1, acc_spike)
+      msg.accelerometer.acceleration.v[0] += 100.0
+    count = 1 if scenario == Scenario.ACCEL_SPIKE_MIDWAY else CONSISTENT_SPIKES_COUNT
+    logs = modify_logs_midway(logs, 'accelerometer', count, acc_spike)

  elif scenario == Scenario.SENSOR_TIMING_SPIKE_MIDWAY or scenario == Scenario.SENSOR_TIMING_CONSISTENT_SPIKES:
    def timing_spike(msg):
@@ -121,7 +125,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_gyro_spikes(self):
+  def test_gyro_spike(self):
    """
    Test: a gyroscope spike in the middle of the segment
    Expected Result:
@@ -132,8 +136,17 @@ class TestLocationdScenarios:
    orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs)
    assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.35))
    assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.55))
-    assert np.diff(replayed_data['inputs_flag'])[499] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[704] == 1.0
+    assert np.all(replayed_data['inputs_flag'] == orig_data['inputs_flag'])
+    assert np.all(replayed_data['sensors_flag'] == orig_data['sensors_flag'])
+
+  def test_consistent_gyro_spikes(self):
+    """
+    Test: consistent timing spikes for N gyroscope messages in the middle of the segment
+    Expected Result: inputsOK becomes False after N of bad measurements
+    """
+    orig_data, replayed_data = run_scenarios(Scenario.GYRO_CONSISTENT_SPIKES, self.logs)
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[708] == 1.0

  def test_accel_off(self):
    """
@@ -148,7 +161,7 @@ class TestLocationdScenarios:
    assert np.allclose(replayed_data['roll'], 0.0)
    assert np.all(replayed_data['sensors_flag'] == 0.0)

-  def test_accel_spikes(self):
+  def test_accel_spike(self):
    """
    ToDo:
    Test: an accelerometer spike in the middle of the segment
@@ -173,5 +186,5 @@ class TestLocationdScenarios:
    Expected Result: inputsOK becomes False after N of bad measurements
    """
    orig_data, replayed_data = run_scenarios(Scenario.SENSOR_TIMING_CONSISTENT_SPIKES, self.logs)
-    assert np.diff(replayed_data['inputs_flag'])[500] == -1.0
-    assert np.diff(replayed_data['inputs_flag'])[787] == 1.0
+    assert np.diff(replayed_data['inputs_flag'])[501] == -1.0
+    assert np.diff(replayed_data['inputs_flag'])[707] == 1.0
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -71,7 +71,7 @@ class TorqueEstimator(ParameterEstimator):
    self.offline_friction = 0.0
    self.offline_latAccelFactor = 0.0
    self.resets = 0.0
-    self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
+    self.use_params = CP.brand in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'

    if CP.lateralTuning.which() == 'torque':
      self.offline_friction = CP.lateralTuning.torque.friction
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -26,6 +26,7 @@ from openpilot.common.transformations.model import dmonitoringmodel_intrinsics,
 from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
 from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid
+from openpilot.system import sentry

 MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
 CALIB_LEN = 3
@@ -37,6 +38,7 @@ SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
 MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'

+
 class DriverStateResult(ctypes.Structure):
  _fields_ = [
    ("face_orientation", ctypes.c_float*3),
@@ -55,6 +57,7 @@ class DriverStateResult(ctypes.Structure):
    ("ready_prob", ctypes.c_float*4),
    ("not_ready_prob", ctypes.c_float*2)]

+
 class DMonitoringModelResult(ctypes.Structure):
  _fields_ = [
    ("driver_state_lhd", DriverStateResult),
@@ -63,6 +66,7 @@ class DMonitoringModelResult(ctypes.Structure):
    ("wheel_on_right_prob", ctypes.c_float),
    ("features", ctypes.c_float*FEATURE_LEN)]

+
 class ModelState:
  inputs: dict[str, np.ndarray]
  output: np.ndarray
@@ -82,7 +86,7 @@ class ModelState:
    else:
      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)

-  def run(self, buf:VisionBuf, calib:np.ndarray, transform:np.ndarray) -> tuple[np.ndarray, float]:
+  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
    self.numpy_inputs['calib'][0,:] = calib

    t1 = time.perf_counter()
@@ -119,6 +123,7 @@ def fill_driver_state(msg, ds_result: DriverStateResult):
  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]

+
 def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
  msg = messaging.new_message('driverStateV2', valid=True)
@@ -139,6 +144,9 @@ def main():
  setproctitle(PROCESS_NAME)
  set_realtime_priority(1)

+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+
  cl_context = CLContext()
  model = ModelState(cl_context)
  cloudlog.warning("models loaded, dmonitoringmodeld starting")
@@ -177,4 +185,10 @@ def main():


 if __name__ == "__main__":
-  main()
+  try:
+    main()
+  except KeyboardInterrupt:
+    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
+  except Exception:
+    sentry.capture_exception()
+    raise
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -93,9 +93,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  driving_model_data.frameIdExtra = vipc_frame_id_extra
  driving_model_data.frameDropPerc = frame_drop_perc
  driving_model_data.modelExecutionTime = model_execution_time
-
-  action = driving_model_data.action
-  action.desiredCurvature = desired_curvature
+  driving_model_data.action.desiredCurvature = desired_curvature

  modelV2 = extended_msg.modelV2
  modelV2.frameId = vipc_frame_id
@@ -106,16 +104,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2.modelExecutionTime = model_execution_time

  # plan
-  position = modelV2.position
-  fill_xyzt(position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
-  velocity = modelV2.velocity
-  fill_xyzt(velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
-  acceleration = modelV2.acceleration
-  fill_xyzt(acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
-  orientation = modelV2.orientation
-  fill_xyzt(orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
-  orientation_rate = modelV2.orientationRate
-  fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
+  fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
+  fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
+  fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
+  fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
+  fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)

  # temporal pose
  temporal_pose = modelV2.temporalPose
@@ -125,12 +118,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()

  # poly path
-  poly_path = driving_model_data.path
-  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+  fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)

  # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = desired_curvature
+  modelV2.action.desiredCurvature = desired_curvature

  # times at X_IDXS according to model plan
  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -159,8 +150,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
  modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
  modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()

-  lane_line_meta = driving_model_data.laneLineMeta
-  fill_lane_line_meta(lane_line_meta, modelV2.laneLines, modelV2.laneLineProbs)
+  fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)

  # road edges
  modelV2.init('roadEdges', 2)
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -194,7 +194,7 @@ def main(demo=False):
    CP = get_demo_car_params()
  else:
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
-  cloudlog.info("modeld got CarParams: %s", CP.carName)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)

  # TODO this needs more thought, use .2s extra for now to estimate other delays
  steer_delay = CP.steerActuatorDelay + .2
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -105,9 +105,6 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
  while (!do_exit && check_all_connected(pandas)) {
    std::unique_ptr<Message> msg(subscriber->receive());
    if (!msg) {
-      if (errno == EINTR) {
-        do_exit = true;
-      }
      continue;
    }

@@ -205,7 +202,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const
  cs.setCanCoreResetCnt(can_health.can_core_reset_cnt);
 }

-std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, PandaSafety *panda_safety) {
+std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started, bool always_offroad) {
  bool ignition_local = false;
  const uint32_t pandas_cnt = pandas.size();

@@ -253,7 +250,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
      health.ignition_line_pkt = 0;
    }

-    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !panda_safety->getOffroadMode();
+    ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)) && !always_offroad;

    pandaStates.push_back(health);
  }
@@ -340,16 +337,14 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) {
  pm->send("peripheralState", msg);
 }

-void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoofing_started, PandaSafety *panda_safety) {
-  static SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
-
+void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool engaged, bool engaged_mads, bool spoofing_started, bool always_offroad) {
  std::vector<std::string> connected_serials;
  for (Panda *p : pandas) {
    connected_serials.push_back(p->hw_serial());
  }

  {
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, panda_safety);
+    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started, always_offroad);
    if (!ignition_opt) {
      LOGE("Failed to get ignition_opt");
      return;
@@ -378,9 +373,6 @@ void process_panda_state(std::vector<Panda *> &pandas, PubMaster *pm, bool spoof
      }
    }

-    sm.update(0);
-    const bool engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
-    const bool engaged_mads = process_mads_heartbeat(&sm);
    for (const auto &panda : pandas) {
      panda->send_heartbeat(engaged, engaged_mads);
    }
@@ -446,9 +438,13 @@ void pandad_run(std::vector<Panda *> &pandas) {
  std::thread send_thread(can_send_thread, pandas, fake_send);

  RateKeeper rk("pandad", 100);
+  SubMaster sm({"selfdriveState", "selfdriveStateSP", "carParams"});
  PubMaster pm({"can", "pandaStates", "peripheralState"});
  PandaSafety panda_safety(pandas);
  Panda *peripheral_panda = pandas[0];
+  bool engaged = false;
+  bool engaged_mads = false;
+  bool always_offroad = false;

  // Main loop: receive CAN data and process states
  while (!do_exit && check_all_connected(pandas)) {
@@ -461,7 +457,11 @@ void pandad_run(std::vector<Panda *> &pandas) {

    // Process panda state at 10 Hz
    if (rk.frame() % 10 == 0) {
-      process_panda_state(pandas, &pm, spoofing_started, &panda_safety);
+      sm.update(0);
+      engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
+      engaged_mads = process_mads_heartbeat(&sm);
+      always_offroad = panda_safety.getOffroadMode();
+      process_panda_state(pandas, &pm, engaged, engaged_mads, spoofing_started, always_offroad);
      panda_safety.configureSafetyMode();
    }

@@ -473,6 +473,16 @@ void pandad_run(std::vector<Panda *> &pandas) {
    rk.keepTime();
  }

+  // Close relay on exit to prevent a fault
+  const bool is_onroad = Params().getBool("IsOnroad");
+  if (is_onroad && !engaged) {
+    for (auto &p : pandas) {
+      if (p->connected()) {
+        p->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
+      }
+    }
+  }
+
  send_thread.join();
 }

--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -3,8 +3,8 @@
 import os
 import usb1
 import time
+import signal
 import subprocess
-from typing import NoReturn

 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from openpilot.common.basedir import BASEDIR
@@ -61,13 +61,25 @@ def flash_panda(panda_serial: str) -> Panda:
  return panda


-def main() -> NoReturn:
+def main() -> None:
+  # signal pandad to close the relay and exit
+  def signal_handler(signum, frame):
+    cloudlog.info(f"Caught signal {signum}, exiting")
+    nonlocal do_exit
+    do_exit = True
+    if process is not None:
+      process.send_signal(signal.SIGINT)
+
+  process = None
+  do_exit = False
+  signal.signal(signal.SIGINT, signal_handler)
+
  count = 0
  first_run = True
  params = Params()
  no_internal_panda_count = 0

-  while True:
+  while not do_exit:
    try:
      count += 1
      cloudlog.event("pandad.flash_and_connect", count=count)
@@ -159,8 +171,9 @@ def main() -> NoReturn:

    # run pandad with all connected serials as arguments
    os.environ['MANAGER_DAEMON'] = 'pandad'
-    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
-    subprocess.run(["./pandad", *panda_serials], check=True)
+    process = subprocess.Popen(["./pandad", *panda_serials], cwd=os.path.join(BASEDIR, "selfdrive/pandad"))
+    process.wait()
+

 if __name__ == "__main__":
  main()
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -154,7 +154,7 @@ 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, personality) -> Alert:
  text = "Enable Adaptive Cruise to Engage"
-  if CP.carName == "honda":
+  if CP.brand == "honda":
    text = "Enable Main Switch to Engage"
  return NoEntryAlert(text)

--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -99,7 +99,7 @@ class SelfdriveD(CruiseHelper):
    self.is_metric = self.params.get_bool("IsMetric")
    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")

-    car_recognized = self.CP.carName != 'mock'
+    car_recognized = self.CP.brand != 'mock'

    # cleanup old params
    if not self.CP.experimentalLongitudinalAvailable:
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -381,7 +381,7 @@ def migrate_carParams(msgs):
    CP = msg.as_builder()
    CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint)
    for car_fw in CP.carParams.carFw:
-      car_fw.brand = CP.carParams.carName
+      car_fw.brand = CP.carParams.brand
    ops.append((index, CP.as_reader()))
  return ops, [], []

--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -8,6 +8,7 @@ from itertools import zip_longest

 import matplotlib.pyplot as plt
 import numpy as np
+from tabulate import tabulate

 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
@@ -30,6 +31,11 @@ API_TOKEN = os.getenv("GITHUB_COMMENTS_TOKEN","")
 MODEL_REPLAY_BUCKET="model_replay_master"
 GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)

+EXEC_TIMINGS = [
+  # model, instant max, average max
+  ("modelV2", 0.03, 0.025),
+  ("driverStateV2", 0.02, 0.015),
+]

 def get_log_fn(test_route, ref="master"):
  return f"{test_route}_model_tici_{ref}.zst"
@@ -156,7 +162,33 @@ def model_replay(lr, frs):
    del frs['roadCameraState'].frames
    del frs['wideRoadCameraState'].frames
  dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
-  return modeld_msgs + dmonitoringmodeld_msgs
+
+  msgs = modeld_msgs + dmonitoringmodeld_msgs
+
+  header = ['model', 'max instant', 'max instant allowed', 'average', 'max average allowed', 'test result']
+  rows = []
+  timings_ok = True
+  for (s, instant_max, avg_max) in EXEC_TIMINGS:
+    ts = [getattr(m, s).modelExecutionTime for m in msgs if m.which() == s]
+    # TODO some init can happen in first iteration
+    ts = ts[1:]
+
+    errors = []
+    if np.max(ts) > instant_max:
+      errors.append("❌ FAILED MAX TIMING CHECK ❌")
+    if np.mean(ts) > avg_max:
+      errors.append("❌ FAILED AVG TIMING CHECK ❌")
+
+    timings_ok = not errors and timings_ok
+    rows.append([s, np.max(ts), instant_max, np.mean(ts), avg_max, "\n".join(errors) or "✅"])
+
+  print("------------------------------------------------")
+  print("----------------- Model Timing -----------------")
+  print("------------------------------------------------")
+  print(tabulate(rows, header, tablefmt="simple_grid", stralign="center", numalign="center", floatfmt=".4f"))
+  assert timings_ok
+
+  return msgs


 def get_frames():
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -74,7 +74,6 @@ if GetOption('extras'):
  qt_src.remove("main.cc")  # replaced by test_runner
  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)

-if GetOption('extras'):
  qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)

  # spinner and text window
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -1,4 +1,3 @@
-#include <time.h>
 #include <unistd.h>

 #include <cstdlib>
@@ -11,6 +10,7 @@
 #include <QTimer>
 #include <QVBoxLayout>

+#include "common/util.h"
 #include "selfdrive/ui/installer/installer.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -36,14 +36,6 @@ const QString CACHE_PATH = "/data/openpilot.cache";
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");

-bool time_valid() {
-  time_t rawtime;
-  time(&rawtime);
-
-  struct tm * sys_time = gmtime(&rawtime);
-  return (1900 + sys_time->tm_year) >= 2020;
-}
-
 void run(const char* cmd) {
  int err = std::system(cmd);
  assert(err == 0);
@@ -103,7 +95,7 @@ void Installer::updateProgress(int percent) {

 void Installer::doInstall() {
  // wait for valid time
-  while (!time_valid()) {
+  while (!util::system_time_valid()) {
    usleep(500 * 1000);
    qDebug() << "Waiting for valid time";
  }
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -29,6 +29,11 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
  body = new BodyWindow(this);
  slayout->addWidget(body);

+  driver_view = new DriverViewWindow(this);
+  connect(driver_view, &DriverViewWindow::done, [=] {
+    showDriverView(false);
+  });
+  slayout->addWidget(driver_view);
  setAttribute(Qt::WA_NoSystemBackground);
  QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState);
  QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition);
@@ -59,6 +64,16 @@ void HomeWindow::offroadTransition(bool offroad) {
  }
 }

+void HomeWindow::showDriverView(bool show) {
+  if (show) {
+    emit closeSettings();
+    slayout->setCurrentWidget(driver_view);
+  } else {
+    slayout->setCurrentWidget(home);
+  }
+  sidebar->setVisible(show == false);
+}
+
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
  // Handle sidebar collapsing
  if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -8,6 +8,7 @@
 #include <QWidget>

 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/offroad/driverview.h"

 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
@@ -40,6 +41,7 @@ signals:

 public slots:
  void offroadTransition(bool offroad);
+  void showDriverView(bool show);
  void showSidebar(bool show);

 protected:
@@ -50,6 +52,7 @@ protected:
  OffroadHome *home;
  OnroadWindow *onroad;
  BodyWindow *body;
+  DriverViewWindow *driver_view;
  QStackedLayout *slayout;

 protected slots:
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -1,4 +1,5 @@
 #include <QDebug>
+#include <QProcess>

 #include "selfdrive/ui/qt/offroad/developer_panel.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
@@ -11,6 +12,10 @@
 #endif

 DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
+  adbToggle = new ParamControl("AdbEnabled", tr("Enable ADB"),
+            tr("ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."), "");
+  addItem(adbToggle);
+
  // SSH keys
  addItem(new SshToggle());
  addItem(new SshControl());
@@ -29,6 +34,21 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
  });
  addItem(longManeuverToggle);

+  experimentalLongitudinalToggle = new ParamControl(
+    "ExperimentalLongitudinalEnabled",
+    tr("openpilot Longitudinal Control (Alpha)"),
+    QString("<b>%1</b><br><br>%2")
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+    ""
+  );
+  experimentalLongitudinalToggle->setConfirmation(true, false);
+  QObject::connect(experimentalLongitudinalToggle, &ParamControl::toggleFlipped, [=]() {
+    updateToggles(offroad);
+  });
+  addItem(experimentalLongitudinalToggle);
+
  // TODO-SP: Move to Vehicles panel when ported back
  hyundaiRadarTracksToggle = new ParamControl(
    "HyundaiRadarTracksToggle",
@@ -54,23 +74,44 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
 void DeveloperPanel::updateToggles(bool _offroad) {
  for (auto btn : findChildren<ParamControl *>()) {
    btn->setVisible(!is_release);
-    btn->setEnabled(_offroad);
+
+    /*
+     * experimentalLongitudinalToggle should be toggelable when:
+     * - visible, and
+     * - during onroad & offroad states
+     */
+    if (btn != experimentalLongitudinalToggle) {
+      btn->setEnabled(_offroad);
+    }
  }

-  // longManeuverToggle should not be toggleable if the car don't have longitudinal control
+  // longManeuverToggle and experimentalLongitudinalToggle should not be toggleable if the car does not have longitudinal control
  auto cp_bytes = params.get("CarParamsPersistent");
  if (!cp_bytes.empty()) {
    AlignedBuffer aligned_buf;
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();

-    auto hyundai = CP.getCarName() == "hyundai";
+    auto hyundai = CP.getBrand() == "hyundai";
    auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);

+    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
+      params.remove("ExperimentalLongitudinalEnabled");
+      experimentalLongitudinalToggle->setEnabled(false);
+    }
+
+    /*
+     * experimentalLongitudinalToggle should be visible when:
+     * - is not a release branch, and
+     * - the car supports experimental longitudinal control (alpha)
+     */
+    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+
    longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
    hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
  } else {
    longManeuverToggle->setEnabled(false);
+    experimentalLongitudinalToggle->setVisible(false);
    hyundaiRadarTracksToggle->setVisible(false);
  }

--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -14,8 +14,10 @@ public:

 private:
  Params params;
+  ParamControl* adbToggle;
  ParamControl* joystickToggle;
  ParamControl* longManeuverToggle;
+  ParamControl* experimentalLongitudinalToggle;
  ParamControl* hyundaiRadarTracksToggle;
  bool is_release;
  bool offroad;
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -6,6 +6,24 @@
 #include "selfdrive/ui/qt/util.h"

 DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
+  QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
+  QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
+    if (isVisible()) {
+      emit done();
+    }
+  });
+}
+
+void DriverViewWindow::showEvent(QShowEvent* event) {
+  params.putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
+  CameraWidget::showEvent(event);
+}
+
+void DriverViewWindow::hideEvent(QHideEvent* event) {
+  params.putBool("IsDriverViewEnabled", false);
+  stopVipcThread();
+  CameraWidget::hideEvent(event);
 }

 void DriverViewWindow::paintGL() {
@@ -62,20 +80,3 @@ mat4 DriverViewWindow::calcFrameMatrix() {
    0.0,  0.0, 0.0, 1.0,
  }};
 }
-
-DriverViewDialog::DriverViewDialog(QWidget *parent) : DialogBase(parent) {
-  Params().putBool("IsDriverViewEnabled", true);
-  device()->resetInteractiveTimeout(60);
-
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  auto camera = new DriverViewWindow(this);
-  main_layout->addWidget(camera);
-  QObject::connect(camera, &DriverViewWindow::clicked, this, &DialogBase::accept);
-  QObject::connect(device(), &Device::interactiveTimeout, this, &DialogBase::accept);
-}
-
-void DriverViewDialog::done(int r) {
-  Params().putBool("IsDriverViewEnabled", false);
-  QDialog::done(r);
-}
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -2,20 +2,22 @@

 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "selfdrive/ui/qt/onroad/driver_monitoring.h"
-#include "selfdrive/ui/qt/widgets/input.h"

 class DriverViewWindow : public CameraWidget {
  Q_OBJECT
+
 public:
  explicit DriverViewWindow(QWidget *parent);
-  void paintGL() override;
+
+signals:
+  void done();
+
+protected:
  mat4 calcFrameMatrix() override;
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void paintGL() override;
+
+  Params params;
  DriverMonitorRenderer driver_monitor;
 };
-
-class DriverViewDialog : public DialogBase {
-  Q_OBJECT
-public:
-  DriverViewDialog(QWidget *parent);
-  void done(int r) override;
-};
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -8,7 +8,6 @@

 #include "common/watchdog.h"
 #include "common/util.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/network/networking.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -25,15 +24,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
      "../assets/img_chffr_wheel.png",
    },
-    {
-      "ExperimentalLongitudinalEnabled",
-      tr("openpilot Longitudinal Control (Alpha)"),
-      QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
-              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
-      "../assets/offroad/icon_speed_limit.png",
-    },
    {
      "ExperimentalMode",
      tr("Experimental Mode"),
@@ -110,11 +100,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
  toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
 #endif
  toggles["ExperimentalMode"]->setConfirmation(true, true);
-  toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);
-
-  connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
-    updateToggles();
-  });
 }

 void TogglesPanel::updateState(const UIState &s) {
@@ -139,7 +124,6 @@ void TogglesPanel::showEvent(QShowEvent *event) {

 void TogglesPanel::updateToggles() {
  auto experimental_mode_toggle = toggles["ExperimentalMode"];
-  auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
  const QString e2e_description = QString("%1<br>"
                                          "<h4>%2</h4><br>"
                                          "%3<br>"
@@ -160,10 +144,6 @@ void TogglesPanel::updateToggles() {
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();

-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
-    }
-    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
    if (hasLongitudinalControl(CP)) {
      // normal description and toggle
      experimental_mode_toggle->setEnabled(true);
@@ -192,7 +172,6 @@ void TogglesPanel::updateToggles() {
    experimental_mode_toggle->refresh();
  } else {
    experimental_mode_toggle->setDescription(e2e_description);
-    op_long_toggle->setVisible(false);
  }
 }

@@ -218,12 +197,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {

  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
                                   tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
-  connect(dcamBtn, &ButtonControl::clicked, [this, dcamBtn]() {
-    dcamBtn->setEnabled(false);
-    DriverViewDialog driver_view(this);
-    driver_view.exec();
-    dcamBtn->setEnabled(true);
-  });
+  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
  addItem(dcamBtn);
 #endif

@@ -397,6 +371,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
  // setup panels
  DevicePanel *device = new DevicePanel(this);
  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
+  QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);

  TogglesPanel *toggles = new TogglesPanel(this);
  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -40,6 +40,7 @@ protected:
 signals:
  void closeSettings();
  void reviewTrainingGuide();
+  void showDriverView();
  void expandToggleDescription(const QString &param);

 protected:
@@ -56,6 +57,7 @@ public:

 signals:
  void reviewTrainingGuide();
+  void showDriverView();

 protected slots:
  void poweroff();
--- a/selfdrive/ui/qt/setup/reset.cc
+++ b/selfdrive/ui/qt/setup/reset.cc
@@ -97,6 +97,11 @@ Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
    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"(
    * {
      font-family: Inter;
@@ -124,6 +129,8 @@ int main(int argc, char *argv[]) {
  if (argc > 1) {
    if (strcmp(argv[1], "--recover") == 0) {
      mode = ResetMode::RECOVER;
+    } else if (strcmp(argv[1], "--format") == 0) {
+      mode = ResetMode::FORMAT;
    }
  }

--- a/selfdrive/ui/qt/setup/reset.h
+++ b/selfdrive/ui/qt/setup/reset.h
@@ -5,6 +5,7 @@
 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 a factory reset from a tool that doesn't flash an empty partition to userdata
 };

 class Reset : public QWidget {
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -79,7 +79,9 @@ CameraWidget::~CameraWidget() {
    glDeleteVertexArrays(1, &frame_vao);
    glDeleteBuffers(1, &frame_vbo);
    glDeleteBuffers(1, &frame_ibo);
+#ifndef QCOM2
    glDeleteTextures(2, textures);
+#endif
  }
  doneCurrent();
 }
--- a/selfdrive/ui/qt/widgets/keyboard.cc
+++ b/selfdrive/ui/qt/widgets/keyboard.cc
@@ -10,10 +10,12 @@

 const QString BACKSPACE_KEY = "⌫";
 const QString ENTER_KEY = "→";
+const QString SHIFT_KEY = "⇧";
+const QString CAPS_LOCK_KEY = "⇪";

 const QMap<QString, int> KEY_STRETCH = {{"  ", 3}, {ENTER_KEY, 2}};

-const QStringList CONTROL_BUTTONS = {"↑", "↓", "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY};
+const QStringList CONTROL_BUTTONS = {SHIFT_KEY, CAPS_LOCK_KEY, "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY};

 const float key_spacing_vertical = 20;
 const float key_spacing_horizontal = 15;
@@ -106,7 +108,7 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
  std::vector<QVector<QString>> lowercase = {
    {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"},
    {"a", "s", "d", "f", "g", "h", "j", "k", "l"},
-    {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY},
+    {SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY},
    {"123", "/", "-", "  ", ".", ENTER_KEY},
  };
  main_layout->addWidget(new KeyboardLayout(this, lowercase));
@@ -115,7 +117,7 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
  std::vector<QVector<QString>> uppercase = {
    {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"},
    {"A", "S", "D", "F", "G", "H", "J", "K", "L"},
-    {"↓", "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY},
+    {SHIFT_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY},
    {"123", "/", "-", "  ", ".", ENTER_KEY},
  };
  main_layout->addWidget(new KeyboardLayout(this, uppercase));
@@ -141,26 +143,39 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
  main_layout->setCurrentIndex(0);
 }

+void Keyboard::handleCapsPress() {
+  shift_state = (shift_state + 1) % 3;
+  bool is_uppercase = shift_state > 0;
+  main_layout->setCurrentIndex(is_uppercase);
+
+  for (KeyButton* btn : main_layout->currentWidget()->findChildren<KeyButton*>()) {
+    if (btn->text() == SHIFT_KEY || btn->text() == CAPS_LOCK_KEY) {
+      btn->setText(shift_state == 2 ? CAPS_LOCK_KEY : SHIFT_KEY);
+      btn->setStyleSheet(is_uppercase ? "background-color: #465BEA;" : "");
+    }
+  }
+}
+
 void Keyboard::handleButton(QAbstractButton* btn) {
  const QString &key = btn->text();
  if (CONTROL_BUTTONS.contains(key)) {
-    if (key == "↓" || key == "ABC") {
-      main_layout->setCurrentIndex(0);
-    } else if (key == "↑") {
-      main_layout->setCurrentIndex(1);
-    } else if (key == "123") {
-      main_layout->setCurrentIndex(2);
-    } else if (key == "#+=") {
-      main_layout->setCurrentIndex(3);
+    if (key == "ABC" || key == "123" || key == "#+=") {
+      int index = (key == "ABC") ? 0 : (key == "123" ? 2 : 3);
+      main_layout->setCurrentIndex(index);
+      shift_state = 0;
+    } else if (key == SHIFT_KEY || key == CAPS_LOCK_KEY) {
+      handleCapsPress();
    } else if (key == ENTER_KEY) {
      main_layout->setCurrentIndex(0);
+      shift_state = 0;
      emit emitEnter();
    } else if (key == BACKSPACE_KEY) {
      emit emitBackspace();
    }
  } else {
-    if ("A" <= key && key <= "Z") {
+    if (shift_state == 1 && "A" <= key && key <= "Z") {
      main_layout->setCurrentIndex(0);
+      shift_state = 0;
    }
    emit emitKey(key);
  }
--- a/selfdrive/ui/qt/widgets/keyboard.h
+++ b/selfdrive/ui/qt/widgets/keyboard.h
@@ -29,9 +29,11 @@ public:

 private:
  QStackedLayout* main_layout;
+  int shift_state = 0;

 private slots:
  void handleButton(QAbstractButton* m_button);
+  void handleCapsPress();

 signals:
  void emitKey(const QString &s);
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -23,6 +23,9 @@ MainWindow::MainWindow(QWidget *parent, HomeWindow *hw, SettingsWindow *sw) :
    onboardingWindow->showTrainingGuide();
    main_layout->setCurrentWidget(onboardingWindow);
  });
+  QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
+    homeWindow->showDriverView(true);
+  });

  onboardingWindow = new OnboardingWindow(this);
  main_layout->addWidget(onboardingWindow);
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -8,7 +8,6 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"

 #include "common/watchdog.h"
-#include "selfdrive/ui/qt/offroad/driverview.h"
 #include "selfdrive/ui/qt/qt_window.h"

 DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
@@ -41,12 +40,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
    }
  }

-  connect(buttons["dcamBtn"], &PushButtonSP::clicked, [this]() {
-    buttons["dcamBtn"]->setEnabled(false);
-    DriverViewDialog driver_view(this);
-    driver_view.exec();
-    buttons["dcamBtn"]->setEnabled(true);
-  });
+  connect(buttons["dcamBtn"], &PushButtonSP::clicked, [=]() { emit showDriverView(); });

  connect(buttons["retrainingBtn"], &PushButtonSP::clicked, [=]() {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -63,6 +63,7 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
  // setup panels
  DevicePanelSP *device = new DevicePanelSP(this);
  QObject::connect(device, &DevicePanelSP::reviewTrainingGuide, this, &SettingsWindowSP::reviewTrainingGuide);
+  QObject::connect(device, &DevicePanelSP::showDriverView, this, &SettingsWindowSP::showDriverView);

  TogglesPanelSP *toggles = new TogglesPanelSP(this);
  QObject::connect(this, &SettingsWindowSP::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
--- a/selfdrive/ui/tests/body.py
+++ b/selfdrive/ui/tests/body.py
@@ -8,7 +8,7 @@ if __name__ == "__main__":
    batt = 1.
    while True:
      msg = messaging.new_message('carParams')
-      msg.carParams.carName = "BODY"
+      msg.carParams.brand = "body"
      msg.carParams.notCar = True
      pm.send('carParams', msg)

--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -9,7 +9,7 @@ import pyautogui
 import pickle
 import time

-from cereal import log
+from cereal import car, log
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 from cereal.messaging import PubMaster, log_from_bytes, sub_sock
 from openpilot.common.basedir import BASEDIR
@@ -59,6 +59,10 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
  time.sleep(UI_DELAY)

 def setup_settings_developer(click, pm: PubMaster, scroll=None):
+  CP = car.CarParams()
+  CP.experimentalLongitudinalAvailable = True
+  Params().put("CarParamsPersistent", CP.to_bytes())
+
  setup_settings_device(click, pm)
  scroll(-400, 278, 962)
  click(278, 970)
@@ -123,7 +127,7 @@ def setup_onroad_wide_sidebar(click, pm: PubMaster, scroll=None):
  setup_onroad_wide(click, pm)

 def setup_body(click, pm: PubMaster, scroll=None):
-  DATA['carParams'].carParams.carName = "BODY"
+  DATA['carParams'].carParams.brand = "body"
  DATA['carParams'].carParams.notCar = True
  DATA['carState'].carState.charging = True
  DATA['carState'].carState.fuelGauge = 50.0
@@ -131,9 +135,9 @@ def setup_body(click, pm: PubMaster, scroll=None):

 def setup_keyboard(click, pm: PubMaster, scroll=None):
  setup_settings_device(click, pm)
-  scroll(-100, 278, 962)
+  scroll(-400, 278, 962)
  click(278, 970)
-  click(1930, 228)
+  click(1930, 390)

 def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):
  setup_keyboard(click, pm, scroll)
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -124,11 +124,23 @@
        <translation>وضع المناورة الطولية</translation>
    </message>
    <message>
-        <source>Enables or disables the github runner service.</source>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>التحكم الطولي openpilot (ألفا)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
+    </message>
+    <message>
+        <source>Enable ADB</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>Enable GitHub runner service</source>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -139,6 +151,14 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable GitHub runner service</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enables or disables the github runner service.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -293,18 +313,14 @@
        <source>Training Guide</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Language</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reboot</source>
-        <translation type="unfinished">إعادة التشغيل</translation>
-    </message>
    <message>
        <source>Regulatory</source>
        <translation type="unfinished">التنظيمية</translation>
    </message>
+    <message>
+        <source>Language</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Are you sure you want to review the training guide?</source>
        <translation type="unfinished">هل أنت متأكد أنك تريد مراجعة دليل التدريب؟</translation>
@@ -317,6 +333,10 @@
        <source>Select a language</source>
        <translation type="unfinished">اختر لغة</translation>
    </message>
+    <message>
+        <source>Reboot</source>
+        <translation type="unfinished">إعادة التشغيل</translation>
+    </message>
    <message>
        <source>Power Off</source>
        <translation type="unfinished">إيقاف التشغيل</translation>
@@ -354,27 +374,27 @@
    <name>DriveStats</name>
    <message>
        <source>Drives</source>
-        <translation>القيادة</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>Hours</source>
-        <translation>ساعات</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>ALL TIME</source>
-        <translation>كامل الوقت</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>PAST WEEK</source>
-        <translation>الأسبوع الماضي</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>KM</source>
-        <translation>كم</translation>
+        <translation type="unfinished"></translation>
    </message>
    <message>
        <source>Miles</source>
-        <translation>ميل</translation>
+        <translation type="unfinished"></translation>
    </message>
 </context>
 <context>
@@ -441,6 +461,10 @@
        <source>Toggle with Main Cruise</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Unified Engagement Mode (UEM)</source>
        <translation type="unfinished"></translation>
@@ -472,10 +496,6 @@ Remain Active: ALC will remain active even after the brake pedal is pressed.
 Pause Steering: ALC will be paused after the brake pedal is manually pressed.</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
-        <translation type="unfinished"></translation>
-    </message>
 </context>
 <context>
    <name>MultiOptionDialog</name>
@@ -509,10 +529,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">متقدم</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -633,7 +649,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
+        <translation>يرجى الاتصال بشبكة الواي فاي لإكمال الاقتران الأولي</translation>
    </message>
 </context>
 <context>
@@ -651,11 +667,11 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    <name>ParamControlSP</name>
    <message>
        <source>Enable</source>
-        <translation>تمكين</translation>
+        <translation type="unfinished">تمكين</translation>
    </message>
    <message>
        <source>Cancel</source>
-        <translation>إلغاء</translation>
+        <translation type="unfinished">إلغاء</translation>
    </message>
 </context>
 <context>
@@ -824,36 +840,32 @@ This may take up to a minute.</source>
    <name>SettingsWindowSP</name>
    <message>
        <source>×</source>
-        <translation>×</translation>
+        <translation type="unfinished">×</translation>
    </message>
    <message>
        <source>Device</source>
-        <translation>الجهاز</translation>
+        <translation type="unfinished">الجهاز</translation>
    </message>
    <message>
        <source>Network</source>
-        <translation>الشبكة</translation>
-    </message>
-    <message>
-        <source>Toggles</source>
-        <translation>المثبتتات</translation>
-    </message>
-    <message>
-        <source>Software</source>
-        <translation>البرنامج</translation>
-    </message>
-    <message>
-        <source>Developer</source>
-        <translation>المطور</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
+        <translation type="unfinished">الشبكة</translation>
    </message>
    <message>
        <source>sunnylink</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Toggles</source>
+        <translation type="unfinished">المثبتتات</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation type="unfinished">البرنامج</translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Trips</source>
        <translation type="unfinished"></translation>
@@ -862,6 +874,10 @@ This may take up to a minute.</source>
        <source>Vehicle</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Developer</source>
+        <translation type="unfinished">المطور</translation>
+    </message>
 </context>
 <context>
    <name>Setup</name>
@@ -1152,32 +1168,16 @@ This may take up to a minute.</source>
 </context>
 <context>
    <name>SoftwarePanelSP</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>SELECT</source>
        <translation type="unfinished">اختيار</translation>
    </message>
    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">إعادة ضبط المعايرة</translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">متابعة</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Current Model</source>
+        <source>No custom model selected!</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1196,22 +1196,6 @@ This may take up to a minute.</source>
        <source>Downloading %1 model [%2]... (%3%)</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>%1 model [%2] %3</source>
        <translation type="unfinished"></translation>
@@ -1228,12 +1212,24 @@ This may take up to a minute.</source>
        <source>from cache</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
    <message>
        <source>Use Default</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>No custom model selected!</source>
+        <source>Select a Model</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1241,11 +1237,7 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
+        <source>Model download has started in the background.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1256,6 +1248,30 @@ This may take up to a minute.</source>
        <source>Would you like to do that now?</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">متابعة</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
 </context>
 <context>
    <name>SshControl</name>
@@ -1314,11 +1330,11 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>N/A</source>
-        <translation type="unfinished">غير متاح</translation>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -1326,16 +1342,12 @@ This may take up to a minute.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
+        <source>N/A</source>
+        <translation type="unfinished">غير متاح</translation>
    </message>
 </context>
 <context>
    <name>SunnypilotPanel</name>
-    <message>
-        <source>Customize MADS</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Modular Assistive Driving System (MADS)</source>
        <translation type="unfinished"></translation>
@@ -1344,6 +1356,10 @@ This may take up to a minute.</source>
        <source>Enable the beloved MADS feature. Disable toggle to revert back to stock openpilot engagement/disengagement.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Customize MADS</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>TermsPage</name>
@@ -1406,18 +1422,6 @@ This may take up to a minute.</source>
        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
        <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط openpilot.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>التحكم الطولي openpilot (ألفا)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>تحذير: التحكم الطولي في openpilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>في هذه السيارة يعمل openpilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من openpilot.</translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation>الوضع التجريبي</translation>
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -505,10 +525,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">Erweitert</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -1410,14 +1426,6 @@ This may take up to a minute.</source>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
        <translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Aggressive</source>
        <translation type="unfinished"></translation>
@@ -1434,10 +1442,6 @@ This may take up to a minute.</source>
        <source>Driving Personality</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>End-to-End Longitudinal Control</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">Control longitudinal de openpilot (fase experimental)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -1354,18 +1374,6 @@ Esto puede tardar un minuto.</translation>
        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
        <translation>Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Control longitudinal de openpilot (fase experimental)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation>Modo Experimental</translation>
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -117,10 +117,30 @@
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Mode débogage au joystick</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
+        <translation>Mode manœuvre longitudinale</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Contrôle longitudinal openpilot (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
+    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -276,11 +296,11 @@
    </message>
    <message>
        <source>Pair Device</source>
-        <translation type="unfinished"></translation>
+        <translation>Associer l&apos;appareil</translation>
    </message>
    <message>
        <source>PAIR</source>
-        <translation type="unfinished"></translation>
+        <translation>ASSOCIER</translation>
    </message>
 </context>
 <context>
@@ -505,10 +525,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">Avancé</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -590,23 +606,23 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    <name>OnroadAlerts</name>
    <message>
        <source>openpilot Unavailable</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot indisponible</translation>
    </message>
    <message>
        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation type="unfinished"></translation>
+        <translation>REPRENEZ LE CONTRÔLE IMMÉDIATEMENT</translation>
    </message>
    <message>
        <source>Reboot Device</source>
-        <translation type="unfinished"></translation>
+        <translation>Redémarrer l&apos;appareil</translation>
    </message>
    <message>
        <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>En attente de démarrage</translation>
    </message>
    <message>
        <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>Système inopérant</translation>
    </message>
 </context>
 <context>
@@ -629,7 +645,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
+        <translation>Connectez-vous au Wi-Fi pour terminer l&apos;appairage initial</translation>
    </message>
 </context>
 <context>
@@ -682,7 +698,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>Captures à distance</translation>
    </message>
 </context>
 <context>
@@ -733,7 +749,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>now</source>
-        <translation type="unfinished"></translation>
+        <translation>maintenant</translation>
    </message>
 </context>
 <context>
@@ -774,7 +790,7 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
    </message>
    <message>
        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>Réinitialisation système déclenchée. Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage.</translation>
    </message>
 </context>
 <context>
@@ -801,7 +817,7 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>Dév.</translation>
    </message>
 </context>
 <context>
@@ -828,7 +844,7 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">Dév.</translation>
    </message>
    <message>
        <source>sunnypilot</source>
@@ -931,15 +947,15 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
    </message>
    <message>
        <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
+        <translation>Choisir le logiciel à installer</translation>
    </message>
    <message>
        <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <translation>openpilot</translation>
    </message>
    <message>
        <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <translation>Logiciel personnalisé</translation>
    </message>
 </context>
 <context>
@@ -1358,18 +1374,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
        <translation>Utilisez le système openpilot pour le régulateur de vitesse adaptatif et l&apos;assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Contrôle longitudinal openpilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation>Mode expérimental</translation>
@@ -1456,7 +1460,7 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
    </message>
    <message>
        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <translation>Le mode Standard est recommandé. En mode Agressif, openpilot suivra les véhicules de plus près et sera plus dynamique avec l&apos;accélérateur et le frein. En mode Détendu, openpilot maintiendra une distance plus importante avec les véhicules qui précèdent. Sur les véhicules compatibles, vous pouvez alterner entre ces personnalités à l&apos;aide du bouton de distance au volant.</translation>
    </message>
    <message>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
@@ -1464,11 +1468,11 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
    </message>
    <message>
        <source>Always-On Driver Monitoring</source>
-        <translation type="unfinished"></translation>
+        <translation>Surveillance continue du conducteur</translation>
    </message>
    <message>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation type="unfinished"></translation>
+        <translation>Activer la surveillance conducteur lorsque openpilot n&apos;est pas actif.</translation>
    </message>
    <message>
        <source>Enable Dynamic Experimental Control</source>
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -24,11 +24,11 @@
    </message>
    <message>
        <source>Enable Tethering</source>
-        <translation>ﾃｻﾞﾘﾝｸﾞを有効化</translation>
+        <translation>テザリング有効</translation>
    </message>
    <message>
        <source>Tethering Password</source>
-        <translation>ﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞ</translation>
+        <translation>テザリングパスワード</translation>
    </message>
    <message>
        <source>EDIT</source>
@@ -40,23 +40,23 @@
    </message>
    <message>
        <source>IP Address</source>
-        <translation>IP アドレス</translation>
+        <translation>IPアドレス</translation>
    </message>
    <message>
        <source>Enable Roaming</source>
-        <translation>ﾛｰﾐﾝｸﾞを有効化</translation>
+        <translation>ローミング有効</translation>
    </message>
    <message>
        <source>APN Setting</source>
-        <translation>APN 設定</translation>
+        <translation>APN設定</translation>
    </message>
    <message>
        <source>Enter APN</source>
-        <translation>APN を入力</translation>
+        <translation>APNを入力</translation>
    </message>
    <message>
        <source>leave blank for automatic configuration</source>
-        <translation>自動で設定するには、空白のままにしてください。</translation>
+        <translation>自動で設定するには空白のままにしてください</translation>
    </message>
    <message>
        <source>Cellular Metered</source>
@@ -64,27 +64,27 @@
    </message>
    <message>
        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>大量のデータのアップロードを防止します。</translation>
+        <translation>大量のデータのアップロードを防止する</translation>
    </message>
    <message>
        <source>Hidden Network</source>
-        <translation type="unfinished"></translation>
+        <translation>ネットワーク非表示</translation>
    </message>
    <message>
        <source>CONNECT</source>
-        <translation type="unfinished">接続</translation>
+        <translation>接続</translation>
    </message>
    <message>
        <source>Enter SSID</source>
-        <translation type="unfinished">SSID を入力</translation>
+        <translation>SSIDを入力</translation>
    </message>
    <message>
        <source>Enter password</source>
-        <translation type="unfinished">パスワードを入力</translation>
+        <translation>パスワードを入力</translation>
    </message>
    <message>
        <source>for &quot;%1&quot;</source>
-        <translation type="unfinished">ﾈｯﾄﾜｰｸ名：%1</translation>
+        <translation>[%1]</translation>
    </message>
 </context>
 <context>
@@ -102,7 +102,7 @@
    <name>DeclinePage</name>
    <message>
        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>openpilot をご利用される前に、利用規約に同意する必要があります。</translation>
+        <translation>openpilotを使用するためには利用規約に同意する必要があります</translation>
    </message>
    <message>
        <source>Back</source>
@@ -110,17 +110,37 @@
    </message>
    <message>
        <source>Decline, uninstall %1</source>
-        <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
+        <translation>同意しない(%1をアンインストール)</translation>
    </message>
 </context>
 <context>
    <name>DeveloperPanel</name>
    <message>
        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>ジョイスティックデバッグモード</translation>
    </message>
    <message>
        <source>Longitudinal Maneuver Mode</source>
+        <translation>アクセル制御マニューバー</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilotアクセル制御(Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>この車ではopenpilotのアクセル制御はアルファ版であり、自動緊急ブレーキ(AEB)が無効化されます。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>この車では、openpilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、openpilotのアクセル制御は無効化されています。アクセル制御をopenpilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。</translation>
+    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
        <translation type="unfinished"></translation>
    </message>
    <message>
@@ -144,11 +164,11 @@
    <name>DevicePanel</name>
    <message>
        <source>Dongle ID</source>
-        <translation>ドングル番号 (Dongle ID)</translation>
+        <translation>ドングルID</translation>
    </message>
    <message>
        <source>N/A</source>
-        <translation>N/A</translation>
+        <translation>該当なし</translation>
    </message>
    <message>
        <source>Serial</source>
@@ -164,47 +184,47 @@
    </message>
    <message>
        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります)</translation>
+        <translation>車内カメラでドライバー監視システムのカメラ画像を確認できます。(車両のパワーOFF時の機能です)</translation>
    </message>
    <message>
        <source>Reset Calibration</source>
-        <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ</translation>
+        <translation>キャリブレーションリセット</translation>
    </message>
    <message>
        <source>RESET</source>
-        <translation>ﾘｾｯﾄ</translation>
+        <translation>リセット</translation>
    </message>
    <message>
        <source>Are you sure you want to reset calibration?</source>
-        <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？</translation>
+        <translation>キャリブレーションをリセットしますか？</translation>
    </message>
    <message>
        <source>Review Training Guide</source>
-        <translation>使い方の確認</translation>
+        <translation>トレーニングガイドを見る</translation>
    </message>
    <message>
        <source>REVIEW</source>
-        <translation>見る</translation>
+        <translation>確認</translation>
    </message>
    <message>
        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot の特徴を見る</translation>
+        <translation>openpilotのルール、機能、および制限を確認してください</translation>
    </message>
    <message>
        <source>Are you sure you want to review the training guide?</source>
-        <translation>使い方の確認をしますか？</translation>
+        <translation>トレーニングガイドを始めてもよろしいですか？</translation>
    </message>
    <message>
        <source>Regulatory</source>
-        <translation>認証情報</translation>
+        <translation>規約</translation>
    </message>
    <message>
        <source>VIEW</source>
-        <translation>見る</translation>
+        <translation>確認</translation>
    </message>
    <message>
        <source>Change Language</source>
-        <translation>言語を変更</translation>
+        <translation>多言語対応</translation>
    </message>
    <message>
        <source>CHANGE</source>
@@ -220,11 +240,11 @@
    </message>
    <message>
        <source>Power Off</source>
-        <translation>電源を切る</translation>
+        <translation>パワーオフ</translation>
    </message>
    <message>
        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。</translation>
+        <translation>openpilotの本体は左右4°以内、上5°下9°以内の角度で取付ける必要があります。常にキャリブレーションされておりリセットはほとんど必要ありません。</translation>
    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -252,15 +272,15 @@
    </message>
    <message>
        <source>Disengage to Reboot</source>
-        <translation>openpilot をキャンセルして再起動ができます</translation>
+        <translation>再起動するには車を一旦停止してください</translation>
    </message>
    <message>
        <source>Are you sure you want to power off?</source>
-        <translation>シャットダウンしてもよろしいですか？</translation>
+        <translation>パワーオフしてもよろしいですか？</translation>
    </message>
    <message>
        <source>Disengage to Power Off</source>
-        <translation>openpilot をキャンセルしてシャットダウンができます</translation>
+        <translation>パワーオフするには車を一旦停止してください</translation>
    </message>
    <message>
        <source>Reset</source>
@@ -268,19 +288,19 @@
    </message>
    <message>
        <source>Review</source>
-        <translation>確認</translation>
+        <translation>見る</translation>
    </message>
    <message>
        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。</translation>
+        <translation>デバイスをcommaコネクト(connect.comma.ai)でペアリングしてcommaプライムの特典を受け取ってください。</translation>
    </message>
    <message>
        <source>Pair Device</source>
-        <translation type="unfinished"></translation>
+        <translation>デバイスのペアリング</translation>
    </message>
    <message>
        <source>PAIR</source>
-        <translation type="unfinished"></translation>
+        <translation>OK</translation>
    </message>
 </context>
 <context>
@@ -381,18 +401,18 @@
    <name>DriverViewWindow</name>
    <message>
        <source>camera starting</source>
-        <translation>ｶﾒﾗを起動しています</translation>
+        <translation>カメラ起動中</translation>
    </message>
 </context>
 <context>
    <name>ExperimentalModeButton</name>
    <message>
        <source>EXPERIMENTAL MODE ON</source>
-        <translation>実験モード</translation>
+        <translation>EXPERIMENTALモード</translation>
    </message>
    <message>
        <source>CHILL MODE ON</source>
-        <translation>チルモード</translation>
+        <translation>CHILLモード</translation>
    </message>
 </context>
 <context>
@@ -407,7 +427,7 @@
    </message>
    <message>
        <source>MAX</source>
-        <translation>最高速度</translation>
+        <translation>最大速度</translation>
    </message>
 </context>
 <context>
@@ -419,7 +439,7 @@
    <message numerus="yes">
        <source>Need at least %n character(s)!</source>
        <translation>
-            <numerusform>%n文字以上でお願いします！</numerusform>
+            <numerusform>%n文字以上にして下さい！</numerusform>
        </translation>
    </message>
 </context>
@@ -427,7 +447,7 @@
    <name>Installer</name>
    <message>
        <source>Installing...</source>
-        <translation>インストールしています...</translation>
+        <translation>インストール中...</translation>
    </message>
 </context>
 <context>
@@ -495,19 +515,15 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>for &quot;%1&quot;</source>
-        <translation>ﾈｯﾄﾜｰｸ名：%1</translation>
+        <translation>[%1]</translation>
    </message>
    <message>
        <source>Wrong password</source>
-        <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
+        <translation>パスワードが違います</translation>
    </message>
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">詳細</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -521,48 +537,49 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    <name>OffroadAlert</name>
    <message>
        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation type="unfinished"></translation>
+        <translation>インターネットへ接続してアップデートを確認してください。未接続のままではopenpilotを使用できなくなります。あと[%1]</translation>
    </message>
    <message>
        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation type="unfinished"></translation>
+        <translation>インターネットに接続してアップデートを確認してください。接続するまでopenpilotは使用できません。</translation>
    </message>
    <message>
        <source>Unable to download updates
 %1</source>
-        <translation type="unfinished"></translation>
+        <translation>更新をダウンロードできませんでした
+%1</translation>
    </message>
    <message>
        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation type="unfinished"></translation>
+        <translation>スナップショットを撮影中です。完了するまでシステムは起動しません。</translation>
    </message>
    <message>
        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation type="unfinished"></translation>
+        <translation>オペレーティングシステムがバックグラウンドでダウンロードされています。インストールの準備が整うと更新を促されます。</translation>
    </message>
    <message>
        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <translation>登録に失敗しました。このデバイスはcomma.aiのサーバーに接続したりデータをアップロードしたりできません。またcomma.aiのサポートも受けられません。公式デバイスである場合は https://comma.ai/support に問い合わせて下さい。</translation>
    </message>
    <message>
        <source>NVMe drive not mounted.</source>
-        <translation type="unfinished"></translation>
+        <translation>SSDドライブ(NVMe)がマウントされていません。</translation>
    </message>
    <message>
        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation type="unfinished"></translation>
+        <translation>非サポートのSSDドライブ(NVMe)が検出されました。このドライブを使用するとデバイスが多大な電力を消費し過熱する可能性があります。</translation>
    </message>
    <message>
        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotが車両を識別できませんでした。車が未対応またはECUが認識されていない可能性があります。該当車両のファームウェアバージョンを追加するためにプルリクエストしてください。サポートが必要な場合は discord.comma.ai に参加することができます。</translation>
    </message>
    <message>
        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotがデバイスの取り付け位置にずれを検出しました。デバイスの固定とマウントがフロントガラスにしっかりと取り付けられていることを確認してください。</translation>
    </message>
    <message>
        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation type="unfinished"></translation>
+        <translation>デバイスの温度が高すぎるためシステム起動前の冷却中です。現在のデバイス内部温度: %1</translation>
    </message>
    <message>
        <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
@@ -588,46 +605,46 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    <name>OnroadAlerts</name>
    <message>
        <source>openpilot Unavailable</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotは使用できません</translation>
    </message>
    <message>
        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation type="unfinished"></translation>
+        <translation>直ちに車の運転に戻って下さい</translation>
    </message>
    <message>
        <source>Reboot Device</source>
-        <translation type="unfinished"></translation>
+        <translation>デバイスを再起動してください</translation>
    </message>
    <message>
        <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>始動を待機しています</translation>
    </message>
    <message>
        <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>システムが応答しません</translation>
    </message>
 </context>
 <context>
    <name>PairingPopup</name>
    <message>
        <source>Pair your device to your comma account</source>
-        <translation>デバイスと comma アカウントを連携する</translation>
+        <translation>デバイスとcommaアカウントを連携して下さい</translation>
    </message>
    <message>
        <source>Go to https://connect.comma.ai on your phone</source>
-        <translation>スマートフォンで「https://connect.comma.ai」にアクセスしてください。</translation>
+        <translation>スマートフォンで https://connect.comma.ai にアクセスしてください</translation>
    </message>
    <message>
        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
-        <translation>「新しいデバイスを追加」を押し、右側のQRコードをスキャンしてください。</translation>
+        <translation>「add new device」を押して右側のQRコードをスキャンしてください</translation>
    </message>
    <message>
        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます。</translation>
+        <translation>connect.comma.aiのサイトをホーム画面に追加して、アプリのように使うことができます。</translation>
    </message>
    <message>
        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
+        <translation>最初にペアリングするため、Wi-Fiに接続してください</translation>
    </message>
 </context>
 <context>
@@ -638,7 +655,7 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>Enable</source>
-        <translation>を有効化</translation>
+        <translation>有効にする</translation>
    </message>
 </context>
 <context>
@@ -656,15 +673,15 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    <name>PrimeAdWidget</name>
    <message>
        <source>Upgrade Now</source>
-        <translation>今すぐｱｯﾌﾟｸﾞﾚｰﾄ</translation>
+        <translation>今すぐアップグレード</translation>
    </message>
    <message>
        <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai でﾌﾟﾗｲﾑ会員に登録できます</translation>
+        <translation>connect.comma.ai からプライム会員に登録できます</translation>
    </message>
    <message>
        <source>PRIME FEATURES:</source>
-        <translation>特典：</translation>
+        <translation>特典:</translation>
    </message>
    <message>
        <source>Remote access</source>
@@ -672,26 +689,26 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>24/7 LTE connectivity</source>
-        <translation type="unfinished"></translation>
+        <translation>24時間365日のLTE接続</translation>
    </message>
    <message>
        <source>1 year of drive storage</source>
-        <translation type="unfinished"></translation>
+        <translation>1年間分のドライブストレージ</translation>
    </message>
    <message>
        <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>リモートスナップショット</translation>
    </message>
 </context>
 <context>
    <name>PrimeUserWidget</name>
    <message>
        <source>✓ SUBSCRIBED</source>
-        <translation>✓ 入会しました</translation>
+        <translation>✓ 有効です</translation>
    </message>
    <message>
        <source>comma prime</source>
-        <translation>comma prime</translation>
+        <translation>commaプライム</translation>
    </message>
 </context>
 <context>
@@ -711,24 +728,24 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    <message numerus="yes">
        <source>%n minute(s) ago</source>
        <translation>
-            <numerusform>%n 分前</numerusform>
+            <numerusform>%n分前</numerusform>
        </translation>
    </message>
    <message numerus="yes">
        <source>%n hour(s) ago</source>
        <translation>
-            <numerusform>%n 時間前</numerusform>
+            <numerusform>%n時間前</numerusform>
        </translation>
    </message>
    <message numerus="yes">
        <source>%n day(s) ago</source>
        <translation>
-            <numerusform>%n 日前</numerusform>
+            <numerusform>%n日前</numerusform>
        </translation>
    </message>
    <message>
        <source>now</source>
-        <translation type="unfinished"></translation>
+        <translation>たった今</translation>
    </message>
 </context>
 <context>
@@ -759,16 +776,17 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
    </message>
    <message>
        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Dataパーティションをマウントできません。パーティションが破損している可能性があります。デバイスを消去してリセットしますので確認を押して下さい。</translation>
    </message>
    <message>
        <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>デバイスをリセットしています…
+この処理には最大で1分ほどかかる場合があります。</translation>
    </message>
    <message>
        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>システムリセットの準備が整いました。すべてのデータと設定を消去するには「確認」を押してください。「キャンセル」を押すとブートを再開します。</translation>
    </message>
 </context>
 <context>
@@ -783,19 +801,19 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Network</source>
-        <translation>ﾈｯﾄﾜｰｸ</translation>
+        <translation>ネット</translation>
    </message>
    <message>
        <source>Toggles</source>
-        <translation>機能設定</translation>
+        <translation>機能</translation>
    </message>
    <message>
        <source>Software</source>
-        <translation>ｿﾌﾄｳｪｱ</translation>
+        <translation>ソフト</translation>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>開発</translation>
    </message>
 </context>
 <context>
@@ -822,7 +840,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">開発</translation>
    </message>
    <message>
        <source>sunnypilot</source>
@@ -845,11 +863,11 @@ This may take up to a minute.</source>
    <name>Setup</name>
    <message>
        <source>WARNING: Low Voltage</source>
-        <translation>警告：低電圧</translation>
+        <translation>警告：電圧低下</translation>
    </message>
    <message>
        <source>Power your device in a car with a harness or proceed at your own risk.</source>
-        <translation>自己責任で実行を継続するか、ハーネスから電源を供給してください。</translation>
+        <translation>ハーネスを使って車でデバイスに電源を供給するか、自己責任でこのまま継続して下さい。</translation>
    </message>
    <message>
        <source>Power off</source>
@@ -865,11 +883,11 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>道路に向かう前に、インストールを完了して使い方を確認しましょう。</translation>
+        <translation>出発する前に、インストールを完了させて少し詳細を確認しましょう。</translation>
    </message>
    <message>
        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi に接続</translation>
+        <translation>Wi-Fiに接続</translation>
    </message>
    <message>
        <source>Back</source>
@@ -877,7 +895,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Continue without Wi-Fi</source>
-        <translation>Wi-Fi に接続せずに続行</translation>
+        <translation>Wi-Fiに接続せずに続行</translation>
    </message>
    <message>
        <source>Waiting for internet</source>
@@ -885,7 +903,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Enter URL</source>
-        <translation>URL を入力</translation>
+        <translation>URLの入力</translation>
    </message>
    <message>
        <source>for Custom Software</source>
@@ -897,11 +915,11 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Download Failed</source>
-        <translation>ダウンロード失敗</translation>
+        <translation>ダウンロードに失敗しました</translation>
    </message>
    <message>
        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>入力された URL を確認し、デバイスがインターネットに接続されていることを確認してください。</translation>
+        <translation>入力されたURLが正しいかどうか、インターネットに正常に接続できているかを確認してください。</translation>
    </message>
    <message>
        <source>Reboot device</source>
@@ -909,15 +927,15 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Start over</source>
-        <translation>最初からやり直す</translation>
+        <translation>やり直す</translation>
    </message>
    <message>
        <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>このURLはカスタムソフトウェアではありません。</translation>
    </message>
    <message>
        <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>何かの問題が発生しました。デバイスを再起動してください。</translation>
    </message>
    <message>
        <source>Select a language</source>
@@ -925,30 +943,30 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
+        <translation>インストールするソフトウェアを選択してください。</translation>
    </message>
    <message>
        <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <translation>openpilot</translation>
    </message>
    <message>
        <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <translation>カスタムソフトウェア</translation>
    </message>
 </context>
 <context>
    <name>SetupWidget</name>
    <message>
        <source>Finish Setup</source>
-        <translation>セットアップ完了</translation>
+        <translation>セットアップの完了</translation>
    </message>
    <message>
        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。</translation>
+        <translation>デバイスをcommaコネクト(connect.comma.ai)でペアリングしてcommaプライムの特典を受け取ってください。</translation>
    </message>
    <message>
        <source>Pair device</source>
-        <translation>デバイスをペアリング</translation>
+        <translation>デバイスのペアリング</translation>
    </message>
 </context>
 <context>
@@ -1057,7 +1075,7 @@ This may take up to a minute.</source>
    <name>SoftwarePanel</name>
    <message>
        <source>Updates are only downloaded while the car is off.</source>
-        <translation>車の電源がオフの間のみ、アップデートのダウンロードが行われます。</translation>
+        <translation>車の電源がオフの間のみアップデートがダウンロードできます。</translation>
    </message>
    <message>
        <source>Current Version</source>
@@ -1109,23 +1127,23 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>failed to check for update</source>
-        <translation type="unfinished"></translation>
+        <translation>アップデートの確認に失敗しました。</translation>
    </message>
    <message>
        <source>up to date, last checked %1</source>
-        <translation type="unfinished"></translation>
+        <translation>最新の状態です。最終確認日時：%1</translation>
    </message>
    <message>
        <source>DOWNLOAD</source>
-        <translation type="unfinished"></translation>
+        <translation>ダウンロード</translation>
    </message>
    <message>
        <source>update available</source>
-        <translation type="unfinished"></translation>
+        <translation>アップデートが利用可能です</translation>
    </message>
    <message>
        <source>never</source>
-        <translation type="unfinished"></translation>
+        <translation>無効</translation>
    </message>
 </context>
 <context>
@@ -1263,7 +1281,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>ユーザー名 “%1” は GitHub に鍵がありません</translation>
+        <translation>ユーザー名“%1”は GitHub に公開鍵がありません</translation>
    </message>
    <message>
        <source>Request timed out</source>
@@ -1271,14 +1289,14 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>ユーザー名 &apos;%1&apos; は GitHub に存在しません</translation>
+        <translation>ユーザー名”%1”は GitHub に存在しません</translation>
    </message>
 </context>
 <context>
    <name>SshToggle</name>
    <message>
        <source>Enable SSH</source>
-        <translation>SSH を有効化</translation>
+        <translation>SSHの有効化</translation>
    </message>
 </context>
 <context>
@@ -1350,19 +1368,19 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>openpilotによるアダプティブクルーズコントロールとレーンキーピングドライバーアシストを利用します。この機能を利用する際は、常に前方への注意が必要です。この設定を変更すると、車の電源が切れた時に反映されます。</translation>
+        <translation>openpilotによるアダプティブクルーズコントロールとレーンキープアシストを利用します。この機能を利用する際は常に前方への注意が必要です。この設定を変更は車の電源が必要です。</translation>
    </message>
    <message>
        <source>Enable Lane Departure Warnings</source>
-        <translation>車線逸脱警報機能を有効化</translation>
+        <translation>車線逸脱警報機能の有効化</translation>
    </message>
    <message>
        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、手動で車線内に戻るように警告を行います。</translation>
+        <translation>時速31マイル（50km）以上のスピードで走行中、ウインカーを作動させずに検出したレーン上に車両が触れた場合、手動で車線内に戻るように警告を行います。</translation>
    </message>
    <message>
        <source>Use Metric System</source>
-        <translation>メートル法を使用</translation>
+        <translation>メートル法の使用</translation>
    </message>
    <message>
        <source>Display speed in km/h instead of mph.</source>
@@ -1378,7 +1396,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Disengage on Accelerator Pedal</source>
-        <translation>ｱｸｾﾙを踏むと openpilot を中断</translation>
+        <translation>アクセルを踏むと運転サポートを中断</translation>
    </message>
    <message>
        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
@@ -1386,11 +1404,11 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Experimental Mode</source>
-        <translation>実験モード</translation>
+        <translation>Experimentalモード</translation>
    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。</translation>
+        <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。このExperimental(実験)モードを有効にすると、以下のアグレッシブな開発中の機能を利用する事ができます。</translation>
    </message>
    <message>
        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
@@ -1402,67 +1420,55 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>この車のACCがアクセル制御を行うため実験モードを利用することができません。</translation>
-    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
+        <translation>車両の標準ACC（アダプティブ・クルーズ・コントロール）がアクセル制御に使用されているため、現在Experimentalモードは利用できません。</translation>
    </message>
    <message>
        <source>Aggressive</source>
-        <translation type="unfinished"></translation>
+        <translation>アグレッシブ</translation>
    </message>
    <message>
        <source>Standard</source>
-        <translation type="unfinished"></translation>
+        <translation>標準</translation>
    </message>
    <message>
        <source>Relaxed</source>
-        <translation type="unfinished"></translation>
+        <translation>リラックス</translation>
    </message>
    <message>
        <source>Driving Personality</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
+        <translation>運転傾向</translation>
    </message>
    <message>
        <source>End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
+        <translation>End-to-Endアクセル制御</translation>
    </message>
    <message>
        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotのアクセル制御は将来のアップデートで提供される可能性があります。</translation>
    </message>
    <message>
        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotのアルファ版アクセル制御は、Experimentalモードと共に非リリースのブランチでテストすることができます。</translation>
    </message>
    <message>
        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotのアクセル制御機能(アルファ)を有効にして、Experimentalモードを許可してください。</translation>
    </message>
    <message>
        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <translation>標準モードが推奨されます。アグレッシブモードではopenpilotは先行車に近づいて追従し、アクセルとブレーキがより強気になります。リラックスモードではopenpilotは先行車から距離を取って走行します。サポートされている車両ではステアリングホイールの距離ボタンでこれらのモードを切り替えることができます。</translation>
    </message>
    <message>
        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation type="unfinished"></translation>
+        <translation>運転時の画面効果として、低速時にカーブをより良く表示するために道路用の広角カメラに切り替わります。またExperimentalモードのロゴが右上隅に表示されます。</translation>
    </message>
    <message>
        <source>Always-On Driver Monitoring</source>
-        <translation type="unfinished"></translation>
+        <translation>運転者の常時モニタリング</translation>
    </message>
    <message>
        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilotが作動していない場合でも運転者モニタリングを有効にする。</translation>
    </message>
    <message>
        <source>Enable Dynamic Experimental Control</source>
@@ -1481,11 +1487,11 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
-        <translation>ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続してアップデートする事をお勧めします。ダウンロードサイズは約 1GB です。</translation>
+        <translation>OSのアップデートが必要です。Wi-Fiに接続してアップデートする事をお勧めします。ダウンロードサイズは約1GBです。</translation>
    </message>
    <message>
        <source>Connect to Wi-Fi</source>
-        <translation>Wi-Fi に接続</translation>
+        <translation>Wi-Fiに接続</translation>
    </message>
    <message>
        <source>Install</source>
@@ -1512,23 +1518,23 @@ This may take up to a minute.</source>
    <name>WiFiPromptWidget</name>
    <message>
        <source>Setup Wi-Fi</source>
-        <translation type="unfinished"></translation>
+        <translation>Wi-Fiセットアップ</translation>
    </message>
    <message>
        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>ドライブデータをアップロードしてopenpilotの改善に役立てるためにWi-Fi接続してください</translation>
    </message>
    <message>
        <source>Open Settings</source>
-        <translation type="unfinished"></translation>
+        <translation>設定を開く</translation>
    </message>
    <message>
        <source>Ready to upload</source>
-        <translation type="unfinished"></translation>
+        <translation>アップロード準備完了</translation>
    </message>
    <message>
        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
-        <translation type="unfinished"></translation>
+        <translation>デバイスがWi-Fiに接続されている間、トレーニングデータが定期的に送信されます</translation>
    </message>
 </context>
 <context>
@@ -1547,7 +1553,7 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？</translation>
+        <translation>Wi-Fiネットワーク%1を削除してもよろしいですか？</translation>
    </message>
    <message>
        <source>Forget</source>
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">openpilot 가감속 제어 (알파)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -504,10 +524,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">고급 설정</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -1410,18 +1426,6 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation>openpilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilot 가감속 제어 (알파)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: openpilot 가감속 제어 알파 기능으로 차량의 자동긴급제동(AEB)을 비활성화합니다.</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>이 차량은 openpilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. openpilot의 가감속 제어로 전환하려면 이 기능을 활성화하세요. openpilot 가감속 제어 알파를 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
-    </message>
    <message>
        <source>Aggressive</source>
        <translation>공격적</translation>
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">Controle Longitudinal openpilot (Embrionário)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -505,10 +525,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">Avançado</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -1414,18 +1430,6 @@ Isso pode levar até um minuto.</translation>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation>O controle longitudinal openpilot poderá vir em uma atualização futura.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Controle Longitudinal openpilot (Embrionário)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
-    </message>
    <message>
        <source>Aggressive</source>
        <translation>Disputa</translation>
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -504,10 +524,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">ขั้นสูง</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -1410,18 +1426,6 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
-    </message>
    <message>
        <source>Aggressive</source>
        <translation>ดุดัน</translation>
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -504,10 +524,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">Gelişmiş Seçenekler</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -1380,14 +1396,6 @@ This may take up to a minute.</source>
        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
        <translation>Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır.</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>Experimental Mode</source>
        <translation type="unfinished"></translation>
@@ -1412,10 +1420,6 @@ This may take up to a minute.</source>
        <source>Driving Personality</source>
        <translation type="unfinished"></translation>
    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation type="unfinished"></translation>
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">openpilot纵向控制（Alpha 版）</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -504,10 +524,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">高级</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -1410,18 +1426,6 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation>openpilot纵向控制可能会在未来的更新中提供。</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilot纵向控制（Alpha 版）</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
-    </message>
    <message>
        <source>Aggressive</source>
        <translation>积极</translation>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -139,6 +139,26 @@
        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
        <translation type="unfinished"></translation>
    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished">openpilot 縱向控制 (Alpha 版)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished">警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished">在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
+    </message>
 </context>
 <context>
    <name>DevicePanel</name>
@@ -504,10 +524,6 @@ Pause Steering: ALC will be paused after the brake pedal is manually pressed.</s
 </context>
 <context>
    <name>NetworkingSP</name>
-    <message>
-        <source>Advanced</source>
-        <translation type="obsolete">進階</translation>
-    </message>
    <message>
        <source>Scan</source>
        <translation type="unfinished"></translation>
@@ -1410,18 +1426,6 @@ This may take up to a minute.</source>
        <source>openpilot longitudinal control may come in a future update.</source>
        <translation>openpilot 縱向控制可能會在未來的更新中提供。</translation>
    </message>
-    <message>
-        <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>openpilot 縱向控制 (Alpha 版)</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
-    </message>
    <message>
        <source>Aggressive</source>
        <translation>積極</translation>
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -49,7 +49,7 @@ class MadsParams:
        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE

  def set_car_specific_params(self, CP, CP_SP):
-    if CP.carName == "hyundai":
+    if CP.brand == "hyundai":
      # TODO-SP: This should be separated from MADS module for future implementations
      #          Use "HyundaiLongitudinalMainCruiseToggleable" param
      hyundai_cruise_main_toggleable = True
@@ -59,5 +59,5 @@ class MadsParams:

    # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
    # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-    if CP.carName == "tesla":
+    if CP.brand == "tesla":
      self.params.remove("Mads")
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -56,7 +56,7 @@ class ModularAssistiveDrivingSystem:
    self.events = self.selfdrive.events
    self.events_sp = self.selfdrive.events_sp

-    if self.selfdrive.CP.carName == "hyundai":
+    if self.selfdrive.CP.brand == "hyundai":
      if (self.selfdrive.CP_SP.flags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
            (self.selfdrive.CP.flags & HyundaiFlags.CANFD):
        self.allow_always = True
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -182,7 +182,7 @@ def main(demo=False):
  else:
    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)

-  cloudlog.info("modeld got CarParams: %s", CP.carName)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)

  # TODO this needs more thought, use .2s extra for now to estimate other delays
  steer_delay = CP.steerActuatorDelay + .2
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -27,7 +27,7 @@ class CarSpecificEventsSP:

  def update(self):
    events = EventsSP()
-    if self.CP.carName == 'hyundai':
+    if self.CP.brand == 'hyundai':
      if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
        events.add(EventNameSP.hyundaiRadarTracksConfirmed)

--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -19,11 +19,11 @@ def log_fingerprint(CP: structs.CarParams) -> None:
  if CP.carFingerprint == "MOCK":
    sentry.capture_fingerprint_mock()
  else:
-    sentry.capture_fingerprint(CP.carFingerprint, CP.carName)
+    sentry.capture_fingerprint(CP.carFingerprint, CP.brand)


 def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params):
-  if CP.carName == 'hyundai':
+  if CP.brand == 'hyundai':
    if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
      # Having this automatic without a toggle causes a weird process replay diff because
      # somehow it sees fewer logs than intended
@@ -35,7 +35,7 @@ def setup_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, pa

 def initialize_car_interface_sp(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params, can_recv: CanRecvCallable,
                                can_send: CanSendCallable):
-  if CP.carName == 'hyundai':
+  if CP.brand == 'hyundai':
    if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
      can_recv()
      _, fingerprint = can_fingerprint(can_recv)
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -55,7 +55,7 @@ public:

  float fl_pix = 0;

-  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, config.stream_type == VISION_STREAM_ROAD) {};
+  CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config, true /*config.stream_type == VISION_STREAM_ROAD*/) {};
  ~CameraState();
  void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
@@ -97,7 +97,7 @@ void CameraState::set_exposure_rect() {
  };
  int h_ref = 1208;
  /*
-    exposure target intrinics is
+    exposure target intrinsics is
    [
      [F, 0, 0.5*ae_xywh[2]]
      [0, F, 0.5*H-ae_xywh[1]]
@@ -127,6 +127,8 @@ void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_i

 void CameraState::set_camera_exposure(float grey_frac) {
  if (!camera.enabled) return;
+  std::vector<double> target_grey_minimums = {0.1, 0.1, 0.125}; // wide, road, driver
+
  const float dt = 0.05;

  const float ts_grey = 10.0;
@@ -143,8 +145,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
  const auto &sensor = camera.sensor;
  const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3] * sensor->ev_scale;

-  // Scale target grey between 0.1 and 0.4 depending on lighting conditions
-  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
+  // Scale target grey between min and 0.4 depending on lighting conditions
+  float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), target_grey_minimums[camera.cc.camera_num], 0.4);
  float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;

  float desired_ev = std::clamp(cur_ev_ / sensor->ev_scale * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -1,3 +1,5 @@
+#pragma once
+
 #include "cdm.h"

 #include "system/camerad/cameras/tici.h"
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -258,6 +258,10 @@ int SpectraCamera::clear_req_queue() {
  req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL;
  int ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request));
  // LOGD("flushed all req: %d", ret);
+
+  for (int i = 0; i < MAX_IFE_BUFS; ++i) {
+    destroySyncObjectAt(i);
+  }
  return ret;
 }

@@ -689,16 +693,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
      buf.queue(i);
    }

-    // destroy old output fence
-    for (auto so : {sync_objs, sync_objs_bps_out}) {
-      if (so[i] == 0) continue;
-      struct cam_sync_info sync_destroy = {0};
-      sync_destroy.sync_obj = so[i];
-      ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
-      if (ret != 0) {
-        LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
-      }
-    }
+    destroySyncObjectAt(i);
  }

  // create output fences
@@ -736,6 +731,23 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
  config_bps(i, request_id);
 }

+void SpectraCamera::destroySyncObjectAt(int index) {
+  auto destroy_sync_obj = [](int cam_sync_fd, int32_t &sync_obj) {
+    if (sync_obj == 0) return;
+
+    struct cam_sync_info sync_destroy = {.sync_obj = sync_obj};
+    int ret = do_sync_control(cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    if (ret != 0) {
+      LOGE("Failed to destroy sync object: %d, sync_obj: %d", ret, sync_destroy.sync_obj);
+    }
+
+    sync_obj = 0;  // Reset the sync object to 0
+  };
+
+  destroy_sync_obj(m->cam_sync_fd, sync_objs[index]);
+  destroy_sync_obj(m->cam_sync_fd, sync_objs_bps_out[index]);
+}
+
 void SpectraCamera::camera_map_bufs() {
  int ret;
  for (int i = 0; i < ife_buf_depth; i++) {
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -1,5 +1,6 @@
 #pragma once

+#include <sys/mman.h>
 #include <functional>
 #include <memory>
 #include <optional>
@@ -72,10 +73,21 @@ public:

 class SpectraBuf {
 public:
+  SpectraBuf() = default;
+
+  ~SpectraBuf() {
+    if (video_fd >= 0 && ptr) {
+      munmap(ptr, mmap_size);
+      release(video_fd, handle);
+    }
+  }
+
  void init(SpectraMaster *m, int s, int a, int flags, int mmu_hdl = 0, int mmu_hdl2 = 0, int count=1) {
+    video_fd = m->video0_fd;
    size = s;
    alignment = a;
-    void *p = alloc_w_mmu_hdl(m->video0_fd, ALIGNED_SIZE(size, alignment)*count, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
+    mmap_size = aligned_size() * count;
+    void *p = alloc_w_mmu_hdl(video_fd, mmap_size, (uint32_t*)&handle, alignment, flags, mmu_hdl, mmu_hdl2);
    ptr = (unsigned char*)p;
    assert(ptr != NULL);
  };
@@ -84,8 +96,9 @@ public:
    return ALIGNED_SIZE(size, alignment);
  };

-  unsigned char *ptr;
-  int size, alignment, handle;
+  int video_fd = -1;
+  unsigned char *ptr = nullptr;
+  int size = 0, alignment = 0, handle = 0, mmap_size = 0;
 };

 class SpectraCamera {
@@ -114,6 +127,7 @@ public:
  void configICP();
  void configCSIPHY();
  void linkDevices();
+  void destroySyncObjectAt(int index);

  // *** state ***

--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,9 +1,9 @@
 [
  {
    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50.img.xz",
-    "hash": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
-    "hash_raw": "62d10fad3f057dad70a803c74b584296120ed4216a6b67c83f052f0186f73e50",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8.img.xz",
+    "hash": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8",
+    "hash_raw": "5679a04c7cb08ab2f6bdb26b7f807d2a5819d2055151a9d3c89e65c7f24a85d8",
    "size": 16422912,
    "sparse": false,
    "full_check": true,
@@ -11,9 +11,9 @@
  },
  {
    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c.img.xz",
-    "hash": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
-    "hash_raw": "70c493b8407ba3e315807042448cd957bcf53e81014440195e3dfd25fd60f53c",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29.img.xz",
+    "hash": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29",
+    "hash_raw": "5a11d6b2588ddb562b69cf2c27d7a8feae2ef0693f73a01cf6536b2cd9a09a29",
    "size": 4404019200,
    "sparse": false,
    "full_check": false,
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -61,20 +61,11 @@ public:
  static void reboot() { std::system("sudo reboot"); }
  static void poweroff() { std::system("sudo poweroff"); }
  static void set_brightness(int percent) {
-    std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness");
-
-    std::ofstream brightness_control("/sys/class/backlight/panel0-backlight/brightness");
-    if (brightness_control.is_open()) {
-      brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n";
-      brightness_control.close();
-    }
+    float max = std::stof(util::read_file("/sys/class/backlight/panel0-backlight/max_brightness"));
+    std::ofstream("/sys/class/backlight/panel0-backlight/brightness") << int(percent * (max / 100.0f)) << "\n";
  }
  static void set_display_power(bool on) {
-    std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power");
-    if (bl_power_control.is_open()) {
-      bl_power_control << (on ? "0" : "4") << "\n";
-      bl_power_control.close();
-    }
+    std::ofstream("/sys/class/backlight/panel0-backlight/bl_power") << (on ? "0" : "4") << "\n";
  }

  static void set_ir_power(int percent) {
@@ -85,18 +76,8 @@ public:
    }

    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
-
-    std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
-    if (torch_brightness.is_open()) {
-      torch_brightness << value << "\n";
-      torch_brightness.close();
-    }
-
-    std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
-    if (switch_brightness.is_open()) {
-      switch_brightness << value << "\n";
-      switch_brightness.close();
-    }
+    std::ofstream("/sys/class/leds/led:torch_2/brightness") << value << "\n";
+    std::ofstream("/sys/class/leds/led:switch_2/brightness") << value << "\n";
  }

  static std::map<std::string, std::string> get_init_logs() {
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -205,6 +205,8 @@ class Tici(HardwareBase):
    return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))

  def get_network_info(self):
+    if self.get_device_type() == "mici":
+      return None
    try:
      modem = self.get_modem()
      info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
@@ -295,6 +297,8 @@ class Tici(HardwareBase):
      return None

  def get_modem_temperatures(self):
+    if self.get_device_type() == "mici":
+      return []
    timeout = 0.2  # Default timeout is too short
    try:
      modem = self.get_modem()
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -31,7 +31,7 @@ class Proc:


 PROCS = [
-  Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
  Proc(['encoderd'], 0.23, msgs=[]),
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -33,7 +33,7 @@ void VideoEncoder::publisher_publish(int segment_num, uint32_t idx, VisionIpcBuf
  edata.setSegmentId(idx);
  edata.setFlags(flags);
  edata.setLen(dat.size());
-  edat.setData(dat);
+  edat.adoptData(msg.getOrphanage().referenceExternalData(dat));
  edat.setWidth(out_width);
  edat.setHeight(out_height);
  if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -108,7 +108,7 @@ procs = [
  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
  PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
  PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
-  NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
+  NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
  PythonProcess("controlsd", "selfdrive.controls.controlsd", and_(not_joystick, iscar)),
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -7,7 +7,7 @@ from cereal import car
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
-from openpilot.system.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes, procs
 from openpilot.system.hardware import HARDWARE

 os.environ['FAKEUPLOAD'] = "1"
@@ -31,6 +31,9 @@ class TestManager:
    os.environ['PREPAREONLY'] = '1'
    manager.main()

+  def test_duplicate_procs(self):
+    assert len(procs) == len(managed_processes), "Duplicate process names"
+
  def test_blacklisted_procs(self):
    # TODO: ensure there are blacklisted procs until we have a dedicated test
    assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run"
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -9,6 +9,7 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes

 BMX = {
@@ -29,12 +30,17 @@ MMC = {
  ('mmc5603nj', 'magneticUncalibrated'),
 }

-SENSOR_CONFIGURATIONS = (
-  (BMX | LSM),
-  (MMC | LSM),
-  (BMX | LSM_C),
-  (MMC| LSM_C),
-)
+SENSOR_CONFIGURATIONS: list[set] = [
+  BMX | LSM,
+  MMC | LSM,
+  BMX | LSM_C,
+  MMC| LSM_C,
+]
+if HARDWARE.get_device_type() == "mici":
+  SENSOR_CONFIGURATIONS = [
+    LSM,
+    LSM_C,
+  ]

 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
--- a/system/ubloxd/ubloxd.cc
+++ b/system/ubloxd/ubloxd.cc
@@ -26,9 +26,6 @@ int main() {
  while (!do_exit) {
    std::unique_ptr<Message> msg(subscriber->receive());
    if (!msg) {
-      if (errno == EINTR) {
-        do_exit = true;
-      }
      continue;
    }

--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -172,7 +172,7 @@ def init_overlay() -> None:
  run(["sudo"] + mount_cmd)
  run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")])

-  git_diff = run(["git", "diff"], OVERLAY_MERGED)
+  git_diff = run(["git", "diff", "--submodule=diff"], OVERLAY_MERGED)
  params.put("GitDiff", git_diff)
  cloudlog.info(f"git diff output:\n{git_diff}")

--- a/tools/op.sh
+++ b/tools/op.sh
@@ -337,6 +337,27 @@ function op_switch() {
  git submodule foreach git clean -df
 }

+function op_start() {
+  if [[ -f "/AGNOS" ]]; then
+    op_before_cmd
+    op_run_command sudo systemctl start comma $@
+  fi
+}
+
+function op_stop() {
+  if [[ -f "/AGNOS" ]]; then
+    op_before_cmd
+    op_run_command sudo systemctl stop comma $@
+  fi
+}
+
+function op_restart() {
+  if [[ -f "/AGNOS" ]]; then
+    op_before_cmd
+    op_run_command sudo systemctl restart comma $@
+  fi
+}
+
 function op_default() {
  echo "An openpilot helper"
  echo ""
@@ -359,6 +380,9 @@ function op_default() {
  echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
  echo -e "  ${BOLD}install${NC}      Install the 'op' tool system wide"
  echo -e "  ${BOLD}switch${NC}       Switch to a different git branch with a clean slate (nukes any changes)"
+  echo -e "  ${BOLD}start${NC}        Starts openpilot"
+  echo -e "  ${BOLD}stop${NC}         Stops openpilot"
+  echo -e "  ${BOLD}restart${NC}      Restarts openpilot"
  echo ""
  echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
  echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
@@ -415,6 +439,9 @@ function _op() {
    sim )           shift 1; op_sim "$@" ;;
    install )       shift 1; op_install "$@" ;;
    switch )        shift 1; op_switch "$@" ;;
+    start )         shift 1; op_start "$@" ;;
+    stop )          shift 1; op_stop "$@" ;;
+    restart )       shift 1; op_restart "$@" ;;
    post-commit )   shift 1; op_install_post_commit "$@" ;;
    * ) op_default "$@" ;;
  esac
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -85,7 +85,7 @@ def juggle_route(route_or_segment_name, can, layout, dbc=None):
  if dbc is None:
    for cp in [m for m in all_data if m.which() == 'carParams']:
      try:
-        DBC = __import__(f"opendbc.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
+        DBC = __import__(f"opendbc.car.{cp.carParams.brand}.values", fromlist=['DBC']).DBC
        fingerprint = cp.carParams.carFingerprint
        dbc = DBC[MIGRATION.get(fingerprint, fingerprint)]['pt']
      except Exception:
--- a/uv.lock
+++ b/uv.lock
@@ -313,11 +313,11 @@ wheels = [

 [[package]]
 name = "codespell"
-version = "2.3.0"
+version = "2.4.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a0/a9/98353dfc7afcdf18cffd2dd3e959a25eaaf2728cf450caa59af89648a8e4/codespell-2.3.0.tar.gz", hash = "sha256:360c7d10f75e65f67bad720af7007e1060a5d395670ec11a7ed1fed9dd17471f", size = 329791 }
+sdist = { url = "https://files.pythonhosted.org/packages/b0/2f/706691245790ae6c63252d48b7ff5e3635951d55b3ce3c0ac13d898bf70b/codespell-2.4.0.tar.gz", hash = "sha256:587d45b14707fb8ce51339ba4cce50ae0e98ce228ef61f3c5e160e34f681be58", size = 344743 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0e/20/b6019add11e84f821184234cea0ad91442373489ef7ccfa3d73a71b908fa/codespell-2.3.0-py3-none-any.whl", hash = "sha256:a9c7cef2501c9cfede2110fd6d4e5e62296920efe9abfb84648df866e47f58d1", size = 329167 },
+    { url = "https://files.pythonhosted.org/packages/19/ce/39bfb82aa428a3ac4d94cc8c9faa3eadeadb2606eee3b584f68d9b575b43/codespell-2.4.0-py3-none-any.whl", hash = "sha256:b4c5b779f747dd481587aeecb5773301183f52b94b96ed51a28126d0482eec1d", size = 344508 },
 ]

 [[package]]
@@ -524,45 +524,45 @@ wheels = [

 [[package]]
 name = "filelock"
-version = "3.16.1"
+version = "3.17.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/9d/db/3ef5bb276dae18d6ec2124224403d1d67bccdbefc17af4cc8f553e341ab1/filelock-3.16.1.tar.gz", hash = "sha256:c249fbfcd5db47e5e2d6d62198e565475ee65e4831e2561c8e313fa7eb961435", size = 18037 }
+sdist = { url = "https://files.pythonhosted.org/packages/dc/9c/0b15fb47b464e1b663b1acd1253a062aa5feecb07d4e597daea542ebd2b5/filelock-3.17.0.tar.gz", hash = "sha256:ee4e77401ef576ebb38cd7f13b9b28893194acc20a8e68e18730ba9c0e54660e", size = 18027 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b9/f8/feced7779d755758a52d1f6635d990b8d98dc0a29fa568bbe0625f18fdf3/filelock-3.16.1-py3-none-any.whl", hash = "sha256:2082e5703d51fbf98ea75855d9d5527e33d8ff23099bec374a134febee6946b0", size = 16163 },
+    { url = "https://files.pythonhosted.org/packages/89/ec/00d68c4ddfedfe64159999e5f8a98fb8442729a63e2077eb9dcd89623d27/filelock-3.17.0-py3-none-any.whl", hash = "sha256:533dc2f7ba78dc2f0f531fc6c4940addf7b70a481e269a5a3b93be94ffbe8338", size = 16164 },
 ]

 [[package]]
 name = "flatbuffers"
-version = "24.12.23"
+version = "25.1.21"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a3/83/9ae01534f7e92a0c04f86586a0d62a4a0266e51d8bb2bfd5b8ea8165abba/flatbuffers-24.12.23.tar.gz", hash = "sha256:2910b0bc6ae9b6db78dd2b18d0b7a0709ba240fb5585f286a3a2b30785c22dac", size = 22164 }
+sdist = { url = "https://files.pythonhosted.org/packages/01/b2/efb0e62687d09538f60b83e82143d25ff4b4b097da9807e23648c723983c/flatbuffers-25.1.21.tar.gz", hash = "sha256:e24a34dcd9fb4e0ea8cc0fc8ef9c5cd61c9d21527a6d536967587a37a4ff9676", size = 22163 }
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+    { url = "https://files.pythonhosted.org/packages/55/75/ed93520bceceabd78305717b3500224625f92e03617ba1f8e08d60e8eefb/flatbuffers-25.1.21-py2.py3-none-any.whl", hash = "sha256:0e9736098ba8f4e48246a0640390f4992c0b1a734e7322a9463d5c3eea00558b", size = 30956 },
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 [[package]]
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-version = "4.55.3"
+version = "4.55.4"
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-sdist = { url = "https://files.pythonhosted.org/packages/76/61/a300d1574dc381393424047c0396a0e213db212e28361123af9830d71a8d/fonttools-4.55.3.tar.gz", hash = "sha256:3983313c2a04d6cc1fe9251f8fc647754cf49a61dac6cb1e7249ae67afaafc45", size = 3498155 }
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