From e45fc5e84ba4a78d6c8c535d057f8bd3863fec06 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 3 Apr 2025 19:51:15 -0700
Subject: [PATCH 01/91] Bump tinygrad to upstream master (#34973)

bump tg
---
 tinygrad_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tinygrad_repo b/tinygrad_repo
index 70266e9f94..0e34f9082e 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 70266e9f94d5a247ccbb2f3a46e72a2fbdaf7a8e
+Subproject commit 0e34f9082e9730b5df9c055b094a43e4565e413b

From 049193b1785010b49cce9b3796c7c44d21e263b6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 3 Apr 2025 23:31:55 -0400
Subject: [PATCH 02/91] test_onroad: test liveParameters service timing
 (#34977)

Add live params to test onroad
---
 selfdrive/test/test_onroad.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index de329d85f2..ebc87800b7 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -95,6 +95,7 @@ TIMINGS = {
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
   "livePose": [2.5, 0.35],
+  "liveParameters": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
 

From cab57a00d0b7c86bbd3ffa7421aefe80889543fa Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 4 Apr 2025 09:52:59 -0700
Subject: [PATCH 03/91] selfdrived: remove ignored processes list (#34978)

* selfdrived: remove ignored processes list

* it's a set
---
 selfdrive/selfdrived/selfdrived.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index bb30c4ba9b..b1399ab43b 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -20,12 +20,12 @@ from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -115,6 +115,12 @@ class SelfdriveD:
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
+    # some comma three with NVMe experience NVMe dropouts mid-drive that
+    # cause loggerd to crash on write, so ignore it only on that platform
+    self.ignored_processes = set()
+    if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'):
+      self.ignored_processes = {'loggerd', }
+
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
     if not car_recognized:
@@ -258,7 +264,7 @@ class SelfdriveD:
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
       self.not_running_prev = not_running
-    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+    if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
       self.events.add(EventName.processNotRunning)
     else:
       if not SIMULATION and not self.rk.lagging:

From 1e3f6599bd57da364a46ffc195320502fe4f9252 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 4 Apr 2025 19:05:36 -0400
Subject: [PATCH 04/91] calibrationd: read carParams from Params (#34981)

* Read CarParams once from Params

* Remove it from process replay
---
 selfdrive/locationd/calibrationd.py             | 10 ++++++----
 selfdrive/test/process_replay/process_replay.py |  3 ++-
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 8ce884ae4f..e265b70f1a 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -11,7 +11,7 @@ import capnp
 import numpy as np
 from typing import NoReturn
 
-from cereal import log
+from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -258,16 +258,18 @@ def main() -> NoReturn:
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveCalibration'])
-  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
+  sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll='cameraOdometry')
+
+  params_reader = Params()
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
 
   calibrator = Calibrator(param_put=True)
+  calibrator.not_car = CP.notCar
 
   while 1:
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
-    calibrator.not_car = sm['carParams'].notCar
-
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 13de985c68..3ee761ee44 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -516,9 +516,10 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="calibrationd",
-    pubs=["carState", "cameraOdometry", "carParams"],
+    pubs=["carState", "cameraOdometry"],
     subs=["liveCalibration"],
     ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
     should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(

From 490c53e2dcb5e4c88e025bdb20a54a594d51377f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Sat, 5 Apr 2025 01:48:34 -0400
Subject: [PATCH 05/91] locationd: make pose_kf inherit from KalmanFilter
 (#34982)

* Read message not json for initial state

* Delete lines

* Fix param
---
 selfdrive/locationd/locationd.py      | 20 ++++++-------
 selfdrive/locationd/models/pose_kf.py | 41 +++++----------------------
 2 files changed, 17 insertions(+), 44 deletions(-)

diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 80789b8886..f6a0935ed9 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import json
 import time
 import capnp
 import numpy as np
@@ -65,7 +64,7 @@ class LocationEstimator:
     self.observation_errors = {kind: np.zeros(3, dtype=np.float32) for kind in obs_kinds}
 
   def reset(self, t: float, x_initial: np.ndarray = PoseKalman.initial_x, P_initial: np.ndarray = PoseKalman.initial_P):
-    self.kf.reset(t, x_initial, P_initial)
+    self.kf.init_state(x_initial, covs=P_initial, filter_time=t)
 
   def _validate_sensor_source(self, source: log.SensorEventData.SensorSource):
     # some segments have two IMUs, ignore the second one
@@ -186,8 +185,8 @@ class LocationEstimator:
       rot_device_noise = rot_device_std ** 2
       trans_device_noise = trans_device_std ** 2
 
-      cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, rot_device_noise)
-      cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, trans_device_noise)
+      cam_odo_rot_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_ROTATION, rot_device, np.array([np.diag(rot_device_noise)]))
+      cam_odo_trans_res = self.kf.predict_and_observe(t, ObservationKind.CAMERA_ODO_TRANSLATION, trans_device, np.array([np.diag(trans_device_noise)]))
       self.camodo_yawrate_distribution =  np.array([rot_device[2], rot_device_std[2]])
       if cam_odo_rot_res is not None:
         _, new_x, _, new_P, _, _, (cam_odo_rot_err,), _, _ = cam_odo_rot_res
@@ -278,12 +277,13 @@ def main():
   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:
-    initial_pose = json.loads(initial_pose)
-    x_initial = np.array(initial_pose["x"], dtype=np.float64)
-    P_initial = np.diag(np.array(initial_pose["P"], dtype=np.float64))
-    estimator.reset(None, x_initial, P_initial)
+  initial_pose_data = params.get("LocationFilterInitialState")
+  if initial_pose_data is not None:
+    with log.Event.from_bytes(initial_pose_data) as lp_msg:
+      filter_state = lp_msg.livePose.debugFilterState
+      x_initial = np.array(filter_state.value, dtype=np.float64) if len(filter_state.value) != 0 else PoseKalman.initial_x
+      P_initial = np.diag(np.array(filter_state.std, dtype=np.float64)) if len(filter_state.std) != 0 else PoseKalman.initial_P
+      estimator.reset(None, x_initial, P_initial)
 
   while True:
     sm.update()
diff --git a/selfdrive/locationd/models/pose_kf.py b/selfdrive/locationd/models/pose_kf.py
index df63518441..020e51ad6e 100755
--- a/selfdrive/locationd/models/pose_kf.py
+++ b/selfdrive/locationd/models/pose_kf.py
@@ -5,6 +5,8 @@ import numpy as np
 
 from openpilot.selfdrive.locationd.models.constants import ObservationKind
 
+from rednose.helpers.kalmanfilter import KalmanFilter
+
 if __name__=="__main__":
   import sympy as sp
   from rednose.helpers.ekf_sym import gen_code
@@ -24,7 +26,7 @@ class States:
   ACCEL_BIAS = slice(15, 18)  # Acceletometer bias in m/s**2
 
 
-class PoseKalman:
+class PoseKalman(KalmanFilter):
   name = "pose"
 
   # state
@@ -50,10 +52,10 @@ class PoseKalman:
                3**2, 3**2, 3**2,
                0.005**2, 0.005**2, 0.005**2])
 
-  obs_noise = {ObservationKind.PHONE_GYRO: np.array([0.025**2, 0.025**2, 0.025**2]),
-               ObservationKind.PHONE_ACCEL: np.array([.5**2, .5**2, .5**2]),
-               ObservationKind.CAMERA_ODO_TRANSLATION: np.array([0.5**2, 0.5**2, 0.5**2]),
-               ObservationKind.CAMERA_ODO_ROTATION: np.array([0.05**2, 0.05**2, 0.05**2])}
+  obs_noise = {ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
+               ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
+               ObservationKind.CAMERA_ODO_TRANSLATION: np.diag([0.5**2, 0.5**2, 0.5**2]),
+               ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2])}
 
   @staticmethod
   def generate_code(generated_dir):
@@ -103,35 +105,6 @@ class PoseKalman:
     self.filter = EKF_sym_pyx(generated_dir, self.name, PoseKalman.Q, PoseKalman.initial_x, PoseKalman.initial_P,
                               dim_state, dim_state_err, max_rewind_age=max_rewind_age)
 
-  @property
-  def x(self):
-    return self.filter.state()
-
-  @property
-  def P(self):
-    return self.filter.covs()
-
-  @property
-  def t(self):
-    return self.filter.get_filter_time()
-
-  def predict_and_observe(self, t, kind, data, obs_noise=None):
-    data = np.atleast_2d(data)
-    if obs_noise is None:
-      obs_noise = self.obs_noise[kind]
-    R = self._get_R(len(data), obs_noise)
-    return self.filter.predict_and_update_batch(t, kind, data, R)
-
-  def reset(self, t, x_init, P_init):
-    self.filter.init_state(x_init, P_init, t)
-
-  def _get_R(self, n, obs_noise):
-    dim = obs_noise.shape[0]
-    R = np.zeros((n, dim, dim))
-    for i in range(n):
-      R[i, :, :] = np.diag(obs_noise)
-    return R
-
 
 if __name__ == "__main__":
   generated_dir = sys.argv[2]

From a08a29d5e6c117dd9a3fae89ce0d616e4ce0744b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 6 Apr 2025 00:29:13 -0400
Subject: [PATCH 06/91] MADS: prevent `wrongCarMode` from disabling MADS
 enabled state (#792)

* MADS: prevent `wrongCarMode` from disabling MADS enabled state

Add wrongCarModeNoEntry as a NO_ENTRY event to replace wrongCarMode (USER_DISABLE)
that would incorrectly disable MADS when in the wrong car mode. Provides
contextual guidance to users based on car brand, showing appropriate
instructions for re-engagement without requiring MADS to be re-enabled.

* move down

* warning only?

* cereal SIKE

* remove duplicate

* try this out

* final
---
 cereal/custom.capnp                            |  1 +
 selfdrive/selfdrived/events.py                 |  9 +--------
 sunnypilot/mads/mads.py                        |  5 ++++-
 sunnypilot/selfdrive/selfdrived/events.py      |  8 ++++++--
 sunnypilot/selfdrive/selfdrived/events_base.py | 10 ++++++++++
 5 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 8d09392fc4..8c23743420 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -136,6 +136,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     controlsMismatchLateral @12;
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
+    wrongCarModeAlertOnly @15;
   }
 }
 
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index d336334a4e..973b331eda 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
   NoEntryAlert, SoftDisableAlert, UserSoftDisableAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, \
-  StartupAlert, AlertCallbackType
+  StartupAlert, AlertCallbackType, wrong_car_mode_alert
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -170,13 +170,6 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
 
-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.brand == "honda":
-    text = "Enable Main Switch to Engage"
-  return NoEntryAlert(text)
-
-
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
   steer = sm['carControl'].actuators.torque
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 632ca7f2a4..93f4ad37e4 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -127,7 +127,10 @@ class ModularAssistiveDrivingSystem:
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    if not any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+      if self.events.has(EventName.wrongCarMode):
+        replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
       self.events.remove(EventName.wrongCarMode)
 
   def update(self, CS: car.CarState):
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 7767a6db70..6813542c0e 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -1,6 +1,6 @@
 from cereal import log, car, custom
 from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
-  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType
+  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
 
 
 AlertSize = log.SelfdriveState.AlertSize
@@ -128,6 +128,10 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
 
   EventNameSP.experimentalModeSwitched: {
     ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
-  }
+  },
+
+  EventNameSP.wrongCarModeAlertOnly: {
+    ET.WARNING: wrong_car_mode_alert,
+  },
 
 }
diff --git a/sunnypilot/selfdrive/selfdrived/events_base.py b/sunnypilot/selfdrive/selfdrived/events_base.py
index 505c500c40..66396c4968 100644
--- a/sunnypilot/selfdrive/selfdrived/events_base.py
+++ b/sunnypilot/selfdrive/selfdrived/events_base.py
@@ -83,6 +83,16 @@ class AlertBase(Alert):
 AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]
 
 
+# ********** alert callback functions **********
+
+
+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.brand == "honda":
+    text = "Enable Main Switch to Engage"
+  return NoEntryAlert(text)
+
+
 class EventsBase:
   def __init__(self):
     self.events: list[int] = []

From d7d4523e491a766d492c67b863147c732f67115c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 6 Apr 2025 12:42:15 +0200
Subject: [PATCH 07/91] Readme: update with links to new branches and info
 about rewrite and reflash agnos (#795)

* Adding the new branches info and adding a warning to reflash agnos

* Using more blockquote

* it

---------

Co-authored-by: Stupefacient <brianbrownt@gmail.com>
---
 README.md | 31 ++++++++++++++++++++++++-------
 1 file changed, 24 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index 1b12141cbf..897852b03f 100644
--- a/README.md
+++ b/README.md
@@ -42,7 +42,24 @@ Please refer to [Recommended Branches](#-recommended-branches) to find your pref
 | `staging-c3` | https://staging-c3.sunnypilot.ai |
 |   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
 
-Requires further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
+### If you want to use our newest branches (our rewrite)
+> [!TIP]
+>You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+
+
+> [!IMPORTANT]
+> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
+> You can still restore the latest sunnylink backup made on the old branches.
+
+|      Branch      |                 Installation URL              |
+|:----------------:|:---------------------------------------------:|
+| `staging-c3-new` | `https://staging-c3-new.sunnypilot.ai`        |
+|   `dev-c3-new`   | `https://dev-c3-new.sunnypilot.ai`            |
+| `custom-branch`  | `https://install.sunnypilot.ai/{branch_name}` |
+| `release-c3-new` |            **Not yet available**.             |
+
+> [!TIP]
+> Do you require further assistance with software installation? Join the [sunnypilot Discord server](https://discord.sunnypilot.com) and message us in the `#installation-help` channel.
 
 ## 🎆 Pull Requests
 We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
@@ -66,12 +83,12 @@ sunnypilot is released under the [MIT License](LICENSE). This repository include
 
 The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
 
-> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.  
->  
-> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.  
->  
-> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.  
-> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.  
+> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
+>
+> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
+>
+> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 > NO WARRANTY EXPRESSED OR IMPLIED.**
 
 For full license terms, please see the [`LICENSE`](LICENSE) file.

From f3c14270279133e8387aa65cfbe2ec70d328ec33 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 6 Apr 2025 12:42:09 -0700
Subject: [PATCH 08/91] agnos 11.13 (#34980)

* agnos 11.12

* new build
---
 launch_env.sh                            |  2 +-
 system/hardware/tici/agnos.json          | 20 +++++------
 system/hardware/tici/all-partitions.json | 46 ++++++++++++------------
 3 files changed, 34 insertions(+), 34 deletions(-)

diff --git a/launch_env.sh b/launch_env.sh
index 9bee47837a..aff451e541 100755
--- 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="11.11"
+  export AGNOS_VERSION="11.13"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 04e5fd3365..1a3cd382a9 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -56,28 +56,28 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz",
-    "hash": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a",
-    "hash_raw": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
+    "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
+    "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "47b2096995578a5078e393c33108b42756009dbb361c43c508fc93cd8bda99cc"
+    "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img.xz",
-    "hash": "fbda983c40e75d8c4784a45c687f27dd27f97f7f0e9a71b4981ec2092ff68a72",
-    "hash_raw": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz",
+    "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824",
+    "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
     "size": 4404019200,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "428c744458d5f35199aab96a0928876c9deeff3e753e95044291408ba244f0af",
+    "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533",
     "alt": {
-      "hash": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img",
+      "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img",
       "size": 4404019200
     }
   }
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 3c88e82420..643b1b2a26 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a.img.xz",
-    "hash": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a",
-    "hash_raw": "0d0d4d5a32e00b46fa36180b4a96337f2a53302d8bd0faee95f8fe1063d1e24a",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
+    "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
+    "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "47b2096995578a5078e393c33108b42756009dbb361c43c508fc93cd8bda99cc"
+    "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img.xz",
-    "hash": "fbda983c40e75d8c4784a45c687f27dd27f97f7f0e9a71b4981ec2092ff68a72",
-    "hash_raw": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz",
+    "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824",
+    "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
     "size": 4404019200,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "428c744458d5f35199aab96a0928876c9deeff3e753e95044291408ba244f0af",
+    "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533",
     "alt": {
-      "hash": "ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ff2da7bc34a1ad8e2831a13a49685243957a51b762d8f28e14e98ac90e84d211.img",
+      "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img",
       "size": 4404019200
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf.img.xz",
-    "hash": "4a48581a9e2e416ae3b695d1fca7a056eeb8b12e7819fee16a3419ba56662ca1",
-    "hash_raw": "0cbfcaba867b8c637a297492fe008aac82cea89a479077585faaa62c8bdc4bcf",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-344c1f5da1ece113e0f07c1964a95646dbfe96f49cfd64ac7375430c9247ab33.img.xz",
+    "hash": "f94d635a74d1b7a7a6774f7673be0672219f253025406d0b2595ff3ef41b68f8",
+    "hash_raw": "344c1f5da1ece113e0f07c1964a95646dbfe96f49cfd64ac7375430c9247ab33",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "51b690c08c7876d5f6f81c36cdfc64bd7e2326986329923b4eb391dbeb45ced1"
+    "ondevice_hash": "96e376ed61e8604adce6fea4b3a7302b966c1975f768f66e4a81428dce7e78f0"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c.img.xz",
-    "hash": "7eca201ce9e6440b389a469eeffe635df50c81c18a7b6af9b73dfe462af7c174",
-    "hash_raw": "5043e8058de94159e4b36590403120e76bdabe75542743bb41e251158aa14f7c",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-a2840d1aeac1b2229a82d91be1b1546b3ec294cb185b6ad5ca502848d1c9c8fb.img.xz",
+    "hash": "d86482e90ac0e08e31d0b699b6728043dc3db2ab0feaec99a6a393085824424a",
+    "hash_raw": "a2840d1aeac1b2229a82d91be1b1546b3ec294cb185b6ad5ca502848d1c9c8fb",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "2c25fb92c7c7085783b3ea1f96d3919acefafe3b4897529ced30540fdb7dc772"
+    "ondevice_hash": "b6754cf40297e4a924315aa81d062ea108b86c93e6ad3c3c98559863a297e2b1"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d.img.xz",
-    "hash": "c0866a0a8e4eedb9f0f1a4d853ace9c83038c955f88e8bfffbaf441dc103c1a6",
-    "hash_raw": "cf9c15c127fb4e776843e7fce36e545b8c8848991186a7ff2cd0d5c2fffe2a1d",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-1f4a795d4c7d052e94326e668be84929856fa2945ddbdf097e1ee722defeabd1.img.xz",
+    "hash": "2df53cb6d115bcb58998a7346e53030ae89683c215f1c28aaa1b524cb145ac65",
+    "hash_raw": "1f4a795d4c7d052e94326e668be84929856fa2945ddbdf097e1ee722defeabd1",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "78086497dd01efd87b491fe16a9abd382f14ec7366c8eb7acfe0ec0c5d192df6"
+    "ondevice_hash": "585e9a650d53be65600589ce0b6c71edf8e6678f65d16dc6ac2dd75f900bc6cc"
   }
-]
+]
\ No newline at end of file

From 05ba480e021d961b1eba0905d694a79a9c4cf19b Mon Sep 17 00:00:00 2001
From: Alexandre Nobuharu Sato
 <66435071+AlexandreSato@users.noreply.github.com>
Date: Sun, 6 Apr 2025 18:27:40 -0300
Subject: [PATCH 09/91] Multilang: Update pt-BR translation (#34983)

---
 selfdrive/ui/translations/main_pt-BR.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 7760046d5d..4971b7fbfa 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -340,7 +340,7 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INATIVO&lt;/span&gt;: conecte-se a uma rede sem limite &lt;br&gt; de dados</translation>
     </message>
 </context>
 <context>

From d78c9c26f639767320968d96bd9cfd88c4bd2bb8 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 7 Apr 2025 10:52:45 -0700
Subject: [PATCH 10/91] [bot] Update Python packages (#34987)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 docs/CARS.md |   2 +-
 opendbc_repo |   2 +-
 panda        |   2 +-
 uv.lock      | 489 ++++++++++++++++++++++++++-------------------------
 4 files changed, 252 insertions(+), 243 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 854273f8f7..648c2cb9d8 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -226,7 +226,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
 |Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Tesla|Model 3 (with HW3) 2019-23[<sup>8</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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW4) 2024[<sup>8</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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW4) 2024-25[<sup>8</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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
 |Tesla|Model Y (with HW3) 2020-23[<sup>8</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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
 |Tesla|Model Y (with HW4) 2024[<sup>8</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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 2c5600f88f..4179672dae 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 2c5600f88f16edcf5fedf46922414ad9b1c0feda
+Subproject commit 4179672dae72e29b8ff9072d9be154515312e350
diff --git a/panda b/panda
index 97e91d6fee..8a583aaa8c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 97e91d6feefc3e96178e72fff743a8a36132b445
+Subproject commit 8a583aaa8c1a27a3d13747b7ecead6a3d73a4e81
diff --git a/uv.lock b/uv.lock
index 7b13fce830..aa49b605a5 100644
--- a/uv.lock
+++ b/uv.lock
@@ -21,7 +21,7 @@ wheels = [
 
 [[package]]
 name = "aiohttp"
-version = "3.11.14"
+version = "3.11.16"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -32,40 +32,40 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/6c/96/91e93ae5fd04d428c101cdbabce6c820d284d61d2614d00518f4fa52ea24/aiohttp-3.11.14.tar.gz", hash = "sha256:d6edc538c7480fa0a3b2bdd705f8010062d74700198da55d16498e1b49549b9c", size = 7676994 }
+sdist = { url = "https://files.pythonhosted.org/packages/f1/d9/1c4721d143e14af753f2bf5e3b681883e1f24b592c0482df6fa6e33597fa/aiohttp-3.11.16.tar.gz", hash = "sha256:16f8a2c9538c14a557b4d309ed4d0a7c60f0253e8ed7b6c9a2859a7582f8b1b8", size = 7676826 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b3/f5/5e2ae82822b1781f828bb9285fb585a4ac028cfd329788caf073bde45706/aiohttp-3.11.14-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:f296d637a50bb15fb6a229fbb0eb053080e703b53dbfe55b1e4bb1c5ed25d325", size = 709382 },
-    { url = "https://files.pythonhosted.org/packages/2f/eb/a0e118c54eb9f897e13e7a357b2ef9b8d0ca438060a9db8ad4af4561aab4/aiohttp-3.11.14-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ec6cd1954ca2bbf0970f531a628da1b1338f594bf5da7e361e19ba163ecc4f3b", size = 469254 },
-    { url = "https://files.pythonhosted.org/packages/ea/3f/03c2f177536ad6ab4d3052e21fb67ce430d0257b3c61a0ef6b91b7b12cb4/aiohttp-3.11.14-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:572def4aad0a4775af66d5a2b5923c7de0820ecaeeb7987dcbccda2a735a993f", size = 456342 },
-    { url = "https://files.pythonhosted.org/packages/d8/fe/849c000be857f60e36d2ce0a8c3d1ad34f8ea64b0ff119ecdafbc94cddfb/aiohttp-3.11.14-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1c68e41c4d576cd6aa6c6d2eddfb32b2acfb07ebfbb4f9da991da26633a3db1a", size = 1686573 },
-    { url = "https://files.pythonhosted.org/packages/a8/e9/737aef162bf618f3b3e0f4a6ed03b5baca5e2a9ffabdab4be1b756ca1061/aiohttp-3.11.14-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:99b8bbfc8111826aa8363442c0fc1f5751456b008737ff053570f06a151650b3", size = 1747903 },
-    { url = "https://files.pythonhosted.org/packages/15/19/a510c51e5a383ad804e51040819898d074106dc297adf0e2c78dccc8ab47/aiohttp-3.11.14-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4b0a200e85da5c966277a402736a96457b882360aa15416bf104ca81e6f5807b", size = 1788922 },
-    { url = "https://files.pythonhosted.org/packages/51/66/30b217d0de5584650340025a285f1d0abf2039e5a683342891e84f250da9/aiohttp-3.11.14-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d173c0ac508a2175f7c9a115a50db5fd3e35190d96fdd1a17f9cb10a6ab09aa1", size = 1676062 },
-    { url = "https://files.pythonhosted.org/packages/27/90/9f61d0c7b185e5a413ae7a3e206e7759ea1b208fff420b380ab205ab82b5/aiohttp-3.11.14-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:413fe39fd929329f697f41ad67936f379cba06fcd4c462b62e5b0f8061ee4a77", size = 1620750 },
-    { url = "https://files.pythonhosted.org/packages/c9/5a/455a6b8aea18ec8590f0a5642caf6d0494152de09579a4fd4f9530a4a111/aiohttp-3.11.14-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:65c75b14ee74e8eeff2886321e76188cbe938d18c85cff349d948430179ad02c", size = 1655093 },
-    { url = "https://files.pythonhosted.org/packages/f5/4b/b369e5e809bdb46a306df7b22e611dc8622ebb5313498c11f6e1cb986408/aiohttp-3.11.14-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:321238a42ed463848f06e291c4bbfb3d15ba5a79221a82c502da3e23d7525d06", size = 1661318 },
-    { url = "https://files.pythonhosted.org/packages/25/ac/a211dd149485e7c518481b08d7c13e7acd32090daf1e396aaea6b9f2eea9/aiohttp-3.11.14-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:59a05cdc636431f7ce843c7c2f04772437dd816a5289f16440b19441be6511f1", size = 1650991 },
-    { url = "https://files.pythonhosted.org/packages/74/c4/8b1d41853f1ccd4cb66edc909ccc2a95b332081661f04324f7064cc200d8/aiohttp-3.11.14-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:daf20d9c3b12ae0fdf15ed92235e190f8284945563c4b8ad95b2d7a31f331cd3", size = 1734371 },
-    { url = "https://files.pythonhosted.org/packages/d9/e2/e244684266722d819f41d7e798ce8bbee3b72420eb684193a076ea1bf18f/aiohttp-3.11.14-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:05582cb2d156ac7506e68b5eac83179faedad74522ed88f88e5861b78740dc0e", size = 1756128 },
-    { url = "https://files.pythonhosted.org/packages/e9/59/79d37f2badafbe229c7654dbf631b38419fcaa979a45c04941397ad7251c/aiohttp-3.11.14-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:12c5869e7ddf6b4b1f2109702b3cd7515667b437da90a5a4a50ba1354fe41881", size = 1694370 },
-    { url = "https://files.pythonhosted.org/packages/04/0f/aaaf3fc8533f65eba4572a79a935b9033e663f67f763b10db16f1c40a067/aiohttp-3.11.14-cp311-cp311-win32.whl", hash = "sha256:92868f6512714efd4a6d6cb2bfc4903b997b36b97baea85f744229f18d12755e", size = 417192 },
-    { url = "https://files.pythonhosted.org/packages/07/3c/aa468550b7fcd0c634d4aa8192f33ce32a179ecba08b908a0ed272194f87/aiohttp-3.11.14-cp311-cp311-win_amd64.whl", hash = "sha256:bccd2cb7aa5a3bfada72681bdb91637094d81639e116eac368f8b3874620a654", size = 443590 },
-    { url = "https://files.pythonhosted.org/packages/9c/ca/e4acb3b41f9e176f50960f7162d656e79bed151b1f911173b2c4a6c0a9d2/aiohttp-3.11.14-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:70ab0f61c1a73d3e0342cedd9a7321425c27a7067bebeeacd509f96695b875fc", size = 705489 },
-    { url = "https://files.pythonhosted.org/packages/84/d5/dcf870e0b11f0c1e3065b7f17673485afa1ddb3d630ccd8f328bccfb459f/aiohttp-3.11.14-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:602d4db80daf4497de93cb1ce00b8fc79969c0a7cf5b67bec96fa939268d806a", size = 464807 },
-    { url = "https://files.pythonhosted.org/packages/7c/f0/dc417d819ae26be6abcd72c28af99d285887fddbf76d4bbe46346f201870/aiohttp-3.11.14-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:3a8a0d127c10b8d89e69bbd3430da0f73946d839e65fec00ae48ca7916a31948", size = 456819 },
-    { url = "https://files.pythonhosted.org/packages/28/db/f7deb0862ebb821aa3829db20081a122ba67ffd149303f2d5202e30f20cd/aiohttp-3.11.14-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ca9f835cdfedcb3f5947304e85b8ca3ace31eef6346d8027a97f4de5fb687534", size = 1683536 },
-    { url = "https://files.pythonhosted.org/packages/5e/0d/8bf0619e21c6714902c44ab53e275deb543d4d2e68ab2b7b8fe5ba267506/aiohttp-3.11.14-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8aa5c68e1e68fff7cd3142288101deb4316b51f03d50c92de6ea5ce646e6c71f", size = 1738111 },
-    { url = "https://files.pythonhosted.org/packages/f5/10/204b3700bb57b30b9e759d453fcfb3ad79a3eb18ece4e298aaf7917757dd/aiohttp-3.11.14-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:3b512f1de1c688f88dbe1b8bb1283f7fbeb7a2b2b26e743bb2193cbadfa6f307", size = 1794508 },
-    { url = "https://files.pythonhosted.org/packages/cc/39/3f65072614c62a315a951fda737e4d9e6e2703f1da0cd2f2d8f629e6092e/aiohttp-3.11.14-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cc9253069158d57e27d47a8453d8a2c5a370dc461374111b5184cf2f147a3cc3", size = 1692006 },
-    { url = "https://files.pythonhosted.org/packages/73/77/cc06ecea173f9bee2f20c8e32e2cf4c8e03909a707183cdf95434db4993e/aiohttp-3.11.14-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0b2501f1b981e70932b4a552fc9b3c942991c7ae429ea117e8fba57718cdeed0", size = 1620369 },
-    { url = "https://files.pythonhosted.org/packages/87/75/5bd424bcd90c7eb2f50fd752d013db4cefb447deeecfc5bc4e8e0b1c74dd/aiohttp-3.11.14-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:28a3d083819741592685762d51d789e6155411277050d08066537c5edc4066e6", size = 1642508 },
-    { url = "https://files.pythonhosted.org/packages/81/f0/ce936ec575e0569f91e5c8374086a6f7760926f16c3b95428fb55d6bfe91/aiohttp-3.11.14-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:0df3788187559c262922846087e36228b75987f3ae31dd0a1e5ee1034090d42f", size = 1685771 },
-    { url = "https://files.pythonhosted.org/packages/68/b7/5216590b99b5b1f18989221c25ac9d9a14a7b0c3c4ae1ff728e906c36430/aiohttp-3.11.14-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:9e73fa341d8b308bb799cf0ab6f55fc0461d27a9fa3e4582755a3d81a6af8c09", size = 1648318 },
-    { url = "https://files.pythonhosted.org/packages/a5/c2/c27061c4ab93fa25f925c7ebddc10c20d992dbbc329e89d493811299dc93/aiohttp-3.11.14-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:51ba80d473eb780a329d73ac8afa44aa71dfb521693ccea1dea8b9b5c4df45ce", size = 1704545 },
-    { url = "https://files.pythonhosted.org/packages/09/f5/11b2da82f2c52365a5b760a4e944ae50a89cf5fb207024b7853615254584/aiohttp-3.11.14-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:8d1dd75aa4d855c7debaf1ef830ff2dfcc33f893c7db0af2423ee761ebffd22b", size = 1737839 },
-    { url = "https://files.pythonhosted.org/packages/03/7f/145e23fe0a4c45b256f14c3268ada5497d487786334721ae8a0c818ee516/aiohttp-3.11.14-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:41cf0cefd9e7b5c646c2ef529c8335e7eafd326f444cc1cdb0c47b6bc836f9be", size = 1695833 },
-    { url = "https://files.pythonhosted.org/packages/1c/78/627dba6ee9fb9439e2e29b521adb1135877a9c7b54811fec5c46e59f2fc8/aiohttp-3.11.14-cp312-cp312-win32.whl", hash = "sha256:948abc8952aff63de7b2c83bfe3f211c727da3a33c3a5866a0e2cf1ee1aa950f", size = 412185 },
-    { url = "https://files.pythonhosted.org/packages/3f/5f/1737cf6fcf0524693a4aeff8746530b65422236761e7bfdd79c6d2ce2e1c/aiohttp-3.11.14-cp312-cp312-win_amd64.whl", hash = "sha256:3b420d076a46f41ea48e5fcccb996f517af0d406267e31e6716f480a3d50d65c", size = 438526 },
+    { url = "https://files.pythonhosted.org/packages/b1/98/be30539cd84260d9f3ea1936d50445e25aa6029a4cb9707f3b64cfd710f7/aiohttp-3.11.16-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:8cb0688a8d81c63d716e867d59a9ccc389e97ac7037ebef904c2b89334407180", size = 708664 },
+    { url = "https://files.pythonhosted.org/packages/e6/27/d51116ce18bdfdea7a2244b55ad38d7b01a4298af55765eed7e8431f013d/aiohttp-3.11.16-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:0ad1fb47da60ae1ddfb316f0ff16d1f3b8e844d1a1e154641928ea0583d486ed", size = 468953 },
+    { url = "https://files.pythonhosted.org/packages/34/23/eedf80ec42865ea5355b46265a2433134138eff9a4fea17e1348530fa4ae/aiohttp-3.11.16-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:df7db76400bf46ec6a0a73192b14c8295bdb9812053f4fe53f4e789f3ea66bbb", size = 456065 },
+    { url = "https://files.pythonhosted.org/packages/36/23/4a5b1ef6cff994936bf96d981dd817b487d9db755457a0d1c2939920d620/aiohttp-3.11.16-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cc3a145479a76ad0ed646434d09216d33d08eef0d8c9a11f5ae5cdc37caa3540", size = 1687976 },
+    { url = "https://files.pythonhosted.org/packages/d0/5d/c7474b4c3069bb35276d54c82997dff4f7575e4b73f0a7b1b08a39ece1eb/aiohttp-3.11.16-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d007aa39a52d62373bd23428ba4a2546eed0e7643d7bf2e41ddcefd54519842c", size = 1752711 },
+    { url = "https://files.pythonhosted.org/packages/64/4c/ee416987b6729558f2eb1b727c60196580aafdb141e83bd78bb031d1c000/aiohttp-3.11.16-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f6ddd90d9fb4b501c97a4458f1c1720e42432c26cb76d28177c5b5ad4e332601", size = 1791305 },
+    { url = "https://files.pythonhosted.org/packages/58/28/3e1e1884070b95f1f69c473a1995852a6f8516670bb1c29d6cb2dbb73e1c/aiohttp-3.11.16-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0a2f451849e6b39e5c226803dcacfa9c7133e9825dcefd2f4e837a2ec5a3bb98", size = 1674499 },
+    { url = "https://files.pythonhosted.org/packages/ad/55/a032b32fa80a662d25d9eb170ed1e2c2be239304ca114ec66c89dc40f37f/aiohttp-3.11.16-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8df6612df74409080575dca38a5237282865408016e65636a76a2eb9348c2567", size = 1622313 },
+    { url = "https://files.pythonhosted.org/packages/b1/df/ca775605f72abbda4e4746e793c408c84373ca2c6ce7a106a09f853f1e89/aiohttp-3.11.16-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:78e6e23b954644737e385befa0deb20233e2dfddf95dd11e9db752bdd2a294d3", size = 1658274 },
+    { url = "https://files.pythonhosted.org/packages/cc/6c/21c45b66124df5b4b0ab638271ecd8c6402b702977120cb4d5be6408e15d/aiohttp-3.11.16-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:696ef00e8a1f0cec5e30640e64eca75d8e777933d1438f4facc9c0cdf288a810", size = 1666704 },
+    { url = "https://files.pythonhosted.org/packages/1d/e2/7d92adc03e3458edd18a21da2575ab84e58f16b1672ae98529e4eeee45ab/aiohttp-3.11.16-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:e3538bc9fe1b902bef51372462e3d7c96fce2b566642512138a480b7adc9d508", size = 1652815 },
+    { url = "https://files.pythonhosted.org/packages/3a/52/7549573cd654ad651e3c5786ec3946d8f0ee379023e22deb503ff856b16c/aiohttp-3.11.16-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:3ab3367bb7f61ad18793fea2ef71f2d181c528c87948638366bf1de26e239183", size = 1735669 },
+    { url = "https://files.pythonhosted.org/packages/d5/54/dcd24a23c7a5a2922123e07a296a5f79ea87ce605f531be068415c326de6/aiohttp-3.11.16-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:56a3443aca82abda0e07be2e1ecb76a050714faf2be84256dae291182ba59049", size = 1760422 },
+    { url = "https://files.pythonhosted.org/packages/a7/53/87327fe982fa310944e1450e97bf7b2a28015263771931372a1dfe682c58/aiohttp-3.11.16-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:61c721764e41af907c9d16b6daa05a458f066015abd35923051be8705108ed17", size = 1694457 },
+    { url = "https://files.pythonhosted.org/packages/ce/6d/c5ccf41059267bcf89853d3db9d8d217dacf0a04f4086cb6bf278323011f/aiohttp-3.11.16-cp311-cp311-win32.whl", hash = "sha256:3e061b09f6fa42997cf627307f220315e313ece74907d35776ec4373ed718b86", size = 416817 },
+    { url = "https://files.pythonhosted.org/packages/e7/dd/01f6fe028e054ef4f909c9d63e3a2399e77021bb2e1bb51d56ca8b543989/aiohttp-3.11.16-cp311-cp311-win_amd64.whl", hash = "sha256:745f1ed5e2c687baefc3c5e7b4304e91bf3e2f32834d07baaee243e349624b24", size = 442986 },
+    { url = "https://files.pythonhosted.org/packages/db/38/100d01cbc60553743baf0fba658cb125f8ad674a8a771f765cdc155a890d/aiohttp-3.11.16-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:911a6e91d08bb2c72938bc17f0a2d97864c531536b7832abee6429d5296e5b27", size = 704881 },
+    { url = "https://files.pythonhosted.org/packages/21/ed/b4102bb6245e36591209e29f03fe87e7956e54cb604ee12e20f7eb47f994/aiohttp-3.11.16-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:6ac13b71761e49d5f9e4d05d33683bbafef753e876e8e5a7ef26e937dd766713", size = 464564 },
+    { url = "https://files.pythonhosted.org/packages/3b/e1/a9ab6c47b62ecee080eeb33acd5352b40ecad08fb2d0779bcc6739271745/aiohttp-3.11.16-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:fd36c119c5d6551bce374fcb5c19269638f8d09862445f85a5a48596fd59f4bb", size = 456548 },
+    { url = "https://files.pythonhosted.org/packages/80/ad/216c6f71bdff2becce6c8776f0aa32cb0fa5d83008d13b49c3208d2e4016/aiohttp-3.11.16-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d489d9778522fbd0f8d6a5c6e48e3514f11be81cb0a5954bdda06f7e1594b321", size = 1691749 },
+    { url = "https://files.pythonhosted.org/packages/bd/ea/7df7bcd3f4e734301605f686ffc87993f2d51b7acb6bcc9b980af223f297/aiohttp-3.11.16-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:69a2cbd61788d26f8f1e626e188044834f37f6ae3f937bd9f08b65fc9d7e514e", size = 1736874 },
+    { url = "https://files.pythonhosted.org/packages/51/41/c7724b9c87a29b7cfd1202ec6446bae8524a751473d25e2ff438bc9a02bf/aiohttp-3.11.16-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:cd464ba806e27ee24a91362ba3621bfc39dbbb8b79f2e1340201615197370f7c", size = 1786885 },
+    { url = "https://files.pythonhosted.org/packages/86/b3/f61f8492fa6569fa87927ad35a40c159408862f7e8e70deaaead349e2fba/aiohttp-3.11.16-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1ce63ae04719513dd2651202352a2beb9f67f55cb8490c40f056cea3c5c355ce", size = 1698059 },
+    { url = "https://files.pythonhosted.org/packages/ce/be/7097cf860a9ce8bbb0e8960704e12869e111abcd3fbd245153373079ccec/aiohttp-3.11.16-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:09b00dd520d88eac9d1768439a59ab3d145065c91a8fab97f900d1b5f802895e", size = 1626527 },
+    { url = "https://files.pythonhosted.org/packages/1d/1d/aaa841c340e8c143a8d53a1f644c2a2961c58cfa26e7b398d6bf75cf5d23/aiohttp-3.11.16-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:7f6428fee52d2bcf96a8aa7b62095b190ee341ab0e6b1bcf50c615d7966fd45b", size = 1644036 },
+    { url = "https://files.pythonhosted.org/packages/2c/88/59d870f76e9345e2b149f158074e78db457985c2b4da713038d9da3020a8/aiohttp-3.11.16-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:13ceac2c5cdcc3f64b9015710221ddf81c900c5febc505dbd8f810e770011540", size = 1685270 },
+    { url = "https://files.pythonhosted.org/packages/2b/b1/c6686948d4c79c3745595efc469a9f8a43cab3c7efc0b5991be65d9e8cb8/aiohttp-3.11.16-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:fadbb8f1d4140825069db3fedbbb843290fd5f5bc0a5dbd7eaf81d91bf1b003b", size = 1650852 },
+    { url = "https://files.pythonhosted.org/packages/fe/94/3e42a6916fd3441721941e0f1b8438e1ce2a4c49af0e28e0d3c950c9b3c9/aiohttp-3.11.16-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:6a792ce34b999fbe04a7a71a90c74f10c57ae4c51f65461a411faa70e154154e", size = 1704481 },
+    { url = "https://files.pythonhosted.org/packages/b1/6d/6ab5854ff59b27075c7a8c610597d2b6c38945f9a1284ee8758bc3720ff6/aiohttp-3.11.16-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:f4065145bf69de124accdd17ea5f4dc770da0a6a6e440c53f6e0a8c27b3e635c", size = 1735370 },
+    { url = "https://files.pythonhosted.org/packages/73/2a/08a68eec3c99a6659067d271d7553e4d490a0828d588e1daa3970dc2b771/aiohttp-3.11.16-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:fa73e8c2656a3653ae6c307b3f4e878a21f87859a9afab228280ddccd7369d71", size = 1697619 },
+    { url = "https://files.pythonhosted.org/packages/61/d5/fea8dbbfb0cd68fbb56f0ae913270a79422d9a41da442a624febf72d2aaf/aiohttp-3.11.16-cp312-cp312-win32.whl", hash = "sha256:f244b8e541f414664889e2c87cac11a07b918cb4b540c36f7ada7bfa76571ea2", size = 411710 },
+    { url = "https://files.pythonhosted.org/packages/33/fb/41cde15fbe51365024550bf77b95a4fc84ef41365705c946da0421f0e1e0/aiohttp-3.11.16-cp312-cp312-win_amd64.whl", hash = "sha256:23a15727fbfccab973343b6d1b7181bfb0b4aa7ae280f36fd2f90f5476805682", size = 438012 },
 ]
 
 [[package]]
@@ -149,16 +149,16 @@ wheels = [
 
 [[package]]
 name = "azure-core"
-version = "1.32.0"
+version = "1.33.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "requests" },
     { name = "six" },
     { name = "typing-extensions" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/cc/ee/668328306a9e963a5ad9f152cd98c7adad86c822729fd1d2a01613ad1e67/azure_core-1.32.0.tar.gz", hash = "sha256:22b3c35d6b2dae14990f6c1be2912bf23ffe50b220e708a28ab1bb92b1c730e5", size = 279128 }
+sdist = { url = "https://files.pythonhosted.org/packages/75/aa/7c9db8edd626f1a7d99d09ef7926f6f4fb34d5f9fa00dc394afdfe8e2a80/azure_core-1.33.0.tar.gz", hash = "sha256:f367aa07b5e3005fec2c1e184b882b0b039910733907d001c20fb08ebb8c0eb9", size = 295633 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/39/83/325bf5e02504dbd8b4faa98197a44cdf8a325ef259b48326a2b6f17f8383/azure_core-1.32.0-py3-none-any.whl", hash = "sha256:eac191a0efb23bfa83fddf321b27b122b4ec847befa3091fa736a5c32c50d7b4", size = 198855 },
+    { url = "https://files.pythonhosted.org/packages/07/b7/76b7e144aa53bd206bf1ce34fa75350472c3f69bf30e5c8c18bc9881035d/azure_core-1.33.0-py3-none-any.whl", hash = "sha256:9b5b6d0223a1d38c37500e6971118c1e0f13f54951e6893968b38910bc9cda8f", size = 207071 },
 ]
 
 [[package]]
@@ -535,27 +535,27 @@ wheels = [
 
 [[package]]
 name = "fonttools"
-version = "4.56.0"
+version = "4.57.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/1c/8c/9ffa2a555af0e5e5d0e2ed7fdd8c9bef474ed676995bb4c57c9cd0014248/fonttools-4.56.0.tar.gz", hash = "sha256:a114d1567e1a1586b7e9e7fc2ff686ca542a82769a296cef131e4c4af51e58f4", size = 3462892 }
+sdist = { url = "https://files.pythonhosted.org/packages/03/2d/a9a0b6e3a0cf6bd502e64fc16d894269011930cabfc89aee20d1635b1441/fonttools-4.57.0.tar.gz", hash = "sha256:727ece10e065be2f9dd239d15dd5d60a66e17eac11aea47d447f9f03fdbc42de", size = 3492448 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/35/56/a2f3e777d48fcae7ecd29de4d96352d84e5ea9871e5f3fc88241521572cf/fonttools-4.56.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:7ef04bc7827adb7532be3d14462390dd71287644516af3f1e67f1e6ff9c6d6df", size = 2753325 },
-    { url = "https://files.pythonhosted.org/packages/71/85/d483e9c4e5ed586b183bf037a353e8d766366b54fd15519b30e6178a6a6e/fonttools-4.56.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ffda9b8cd9cb8b301cae2602ec62375b59e2e2108a117746f12215145e3f786c", size = 2281554 },
-    { url = "https://files.pythonhosted.org/packages/09/67/060473b832b2fade03c127019794df6dc02d9bc66fa4210b8e0d8a99d1e5/fonttools-4.56.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e2e993e8db36306cc3f1734edc8ea67906c55f98683d6fd34c3fc5593fdbba4c", size = 4869260 },
-    { url = "https://files.pythonhosted.org/packages/28/e9/47c02d5a7027e8ed841ab6a10ca00c93dadd5f16742f1af1fa3f9978adf4/fonttools-4.56.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:003548eadd674175510773f73fb2060bb46adb77c94854af3e0cc5bc70260049", size = 4898508 },
-    { url = "https://files.pythonhosted.org/packages/bf/8a/221d456d1afb8ca043cfd078f59f187ee5d0a580f4b49351b9ce95121f57/fonttools-4.56.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:bd9825822e7bb243f285013e653f6741954d8147427aaa0324a862cdbf4cbf62", size = 4877700 },
-    { url = "https://files.pythonhosted.org/packages/a4/8c/e503863adf7a6aeff7b960e2f66fa44dd0c29a7a8b79765b2821950d7b05/fonttools-4.56.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:b23d30a2c0b992fb1c4f8ac9bfde44b5586d23457759b6cf9a787f1a35179ee0", size = 5045817 },
-    { url = "https://files.pythonhosted.org/packages/2b/50/79ba3b7e42f4eaa70b82b9e79155f0f6797858dc8a97862428b6852c6aee/fonttools-4.56.0-cp311-cp311-win32.whl", hash = "sha256:47b5e4680002ae1756d3ae3b6114e20aaee6cc5c69d1e5911f5ffffd3ee46c6b", size = 2154426 },
-    { url = "https://files.pythonhosted.org/packages/3b/90/4926e653041c4116ecd43e50e3c79f5daae6dcafc58ceb64bc4f71dd4924/fonttools-4.56.0-cp311-cp311-win_amd64.whl", hash = "sha256:14a3e3e6b211660db54ca1ef7006401e4a694e53ffd4553ab9bc87ead01d0f05", size = 2200937 },
-    { url = "https://files.pythonhosted.org/packages/39/32/71cfd6877999576a11824a7fe7bc0bb57c5c72b1f4536fa56a3e39552643/fonttools-4.56.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d6f195c14c01bd057bc9b4f70756b510e009c83c5ea67b25ced3e2c38e6ee6e9", size = 2747757 },
-    { url = "https://files.pythonhosted.org/packages/15/52/d9f716b072c5061a0b915dd4c387f74bef44c68c069e2195c753905bd9b7/fonttools-4.56.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:fa760e5fe8b50cbc2d71884a1eff2ed2b95a005f02dda2fa431560db0ddd927f", size = 2279007 },
-    { url = "https://files.pythonhosted.org/packages/d1/97/f1b3a8afa9a0d814a092a25cd42f59ccb98a0bb7a295e6e02fc9ba744214/fonttools-4.56.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d54a45d30251f1d729e69e5b675f9a08b7da413391a1227781e2a297fa37f6d2", size = 4783991 },
-    { url = "https://files.pythonhosted.org/packages/95/70/2a781bedc1c45a0c61d29c56425609b22ed7f971da5d7e5df2679488741b/fonttools-4.56.0-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:661a8995d11e6e4914a44ca7d52d1286e2d9b154f685a4d1f69add8418961563", size = 4855109 },
-    { url = "https://files.pythonhosted.org/packages/0c/02/a2597858e61a5e3fb6a14d5f6be9e6eb4eaf090da56ad70cedcbdd201685/fonttools-4.56.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:9d94449ad0a5f2a8bf5d2f8d71d65088aee48adbe45f3c5f8e00e3ad861ed81a", size = 4762496 },
-    { url = "https://files.pythonhosted.org/packages/f2/00/aaf00100d6078fdc73f7352b44589804af9dc12b182a2540b16002152ba4/fonttools-4.56.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:f59746f7953f69cc3290ce2f971ab01056e55ddd0fb8b792c31a8acd7fee2d28", size = 4990094 },
-    { url = "https://files.pythonhosted.org/packages/bf/dc/3ff1db522460db60cf3adaf1b64e0c72b43406717d139786d3fa1eb20709/fonttools-4.56.0-cp312-cp312-win32.whl", hash = "sha256:bce60f9a977c9d3d51de475af3f3581d9b36952e1f8fc19a1f2254f1dda7ce9c", size = 2142888 },
-    { url = "https://files.pythonhosted.org/packages/6f/e3/5a181a85777f7809076e51f7422e0dc77eb04676c40ec8bf6a49d390d1ff/fonttools-4.56.0-cp312-cp312-win_amd64.whl", hash = "sha256:300c310bb725b2bdb4f5fc7e148e190bd69f01925c7ab437b9c0ca3e1c7cd9ba", size = 2189734 },
-    { url = "https://files.pythonhosted.org/packages/bf/ff/44934a031ce5a39125415eb405b9efb76fe7f9586b75291d66ae5cbfc4e6/fonttools-4.56.0-py3-none-any.whl", hash = "sha256:1088182f68c303b50ca4dc0c82d42083d176cba37af1937e1a976a31149d4d14", size = 1089800 },
+    { url = "https://files.pythonhosted.org/packages/81/1f/e67c99aa3c6d3d2f93d956627e62a57ae0d35dc42f26611ea2a91053f6d6/fonttools-4.57.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:3871349303bdec958360eedb619169a779956503ffb4543bb3e6211e09b647c4", size = 2757392 },
+    { url = "https://files.pythonhosted.org/packages/aa/f1/f75770d0ddc67db504850898d96d75adde238c35313409bfcd8db4e4a5fe/fonttools-4.57.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c59375e85126b15a90fcba3443eaac58f3073ba091f02410eaa286da9ad80ed8", size = 2285609 },
+    { url = "https://files.pythonhosted.org/packages/f5/d3/bc34e4953cb204bae0c50b527307dce559b810e624a733351a654cfc318e/fonttools-4.57.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:967b65232e104f4b0f6370a62eb33089e00024f2ce143aecbf9755649421c683", size = 4873292 },
+    { url = "https://files.pythonhosted.org/packages/41/b8/d5933559303a4ab18c799105f4c91ee0318cc95db4a2a09e300116625e7a/fonttools-4.57.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:39acf68abdfc74e19de7485f8f7396fa4d2418efea239b7061d6ed6a2510c746", size = 4902503 },
+    { url = "https://files.pythonhosted.org/packages/32/13/acb36bfaa316f481153ce78de1fa3926a8bad42162caa3b049e1afe2408b/fonttools-4.57.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:9d077f909f2343daf4495ba22bb0e23b62886e8ec7c109ee8234bdbd678cf344", size = 5077351 },
+    { url = "https://files.pythonhosted.org/packages/b5/23/6d383a2ca83b7516d73975d8cca9d81a01acdcaa5e4db8579e4f3de78518/fonttools-4.57.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:46370ac47a1e91895d40e9ad48effbe8e9d9db1a4b80888095bc00e7beaa042f", size = 5275067 },
+    { url = "https://files.pythonhosted.org/packages/bc/ca/31b8919c6da0198d5d522f1d26c980201378c087bdd733a359a1e7485769/fonttools-4.57.0-cp311-cp311-win32.whl", hash = "sha256:ca2aed95855506b7ae94e8f1f6217b7673c929e4f4f1217bcaa236253055cb36", size = 2158263 },
+    { url = "https://files.pythonhosted.org/packages/13/4c/de2612ea2216eb45cfc8eb91a8501615dd87716feaf5f8fb65cbca576289/fonttools-4.57.0-cp311-cp311-win_amd64.whl", hash = "sha256:17168a4670bbe3775f3f3f72d23ee786bd965395381dfbb70111e25e81505b9d", size = 2204968 },
+    { url = "https://files.pythonhosted.org/packages/cb/98/d4bc42d43392982eecaaca117d79845734d675219680cd43070bb001bc1f/fonttools-4.57.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:889e45e976c74abc7256d3064aa7c1295aa283c6bb19810b9f8b604dfe5c7f31", size = 2751824 },
+    { url = "https://files.pythonhosted.org/packages/1a/62/7168030eeca3742fecf45f31e63b5ef48969fa230a672216b805f1d61548/fonttools-4.57.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:0425c2e052a5f1516c94e5855dbda706ae5a768631e9fcc34e57d074d1b65b92", size = 2283072 },
+    { url = "https://files.pythonhosted.org/packages/5d/82/121a26d9646f0986ddb35fbbaf58ef791c25b59ecb63ffea2aab0099044f/fonttools-4.57.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:44c26a311be2ac130f40a96769264809d3b0cb297518669db437d1cc82974888", size = 4788020 },
+    { url = "https://files.pythonhosted.org/packages/5b/26/e0f2fb662e022d565bbe280a3cfe6dafdaabf58889ff86fdef2d31ff1dde/fonttools-4.57.0-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:84c41ba992df5b8d680b89fd84c6a1f2aca2b9f1ae8a67400c8930cd4ea115f6", size = 4859096 },
+    { url = "https://files.pythonhosted.org/packages/9e/44/9075e323347b1891cdece4b3f10a3b84a8f4c42a7684077429d9ce842056/fonttools-4.57.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:ea1e9e43ca56b0c12440a7c689b1350066595bebcaa83baad05b8b2675129d98", size = 4964356 },
+    { url = "https://files.pythonhosted.org/packages/48/28/caa8df32743462fb966be6de6a79d7f30393859636d7732e82efa09fbbb4/fonttools-4.57.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:84fd56c78d431606332a0627c16e2a63d243d0d8b05521257d77c6529abe14d8", size = 5226546 },
+    { url = "https://files.pythonhosted.org/packages/f6/46/95ab0f0d2e33c5b1a4fc1c0efe5e286ba9359602c0a9907adb1faca44175/fonttools-4.57.0-cp312-cp312-win32.whl", hash = "sha256:f4376819c1c778d59e0a31db5dc6ede854e9edf28bbfa5b756604727f7f800ac", size = 2146776 },
+    { url = "https://files.pythonhosted.org/packages/06/5d/1be5424bb305880e1113631f49a55ea7c7da3a5fe02608ca7c16a03a21da/fonttools-4.57.0-cp312-cp312-win_amd64.whl", hash = "sha256:57e30241524879ea10cdf79c737037221f77cc126a8cdc8ff2c94d4a522504b9", size = 2193956 },
+    { url = "https://files.pythonhosted.org/packages/90/27/45f8957c3132917f91aaa56b700bcfc2396be1253f685bd5c68529b6f610/fonttools-4.57.0-py3-none-any.whl", hash = "sha256:3122c604a675513c68bd24c6a8f9091f1c2376d18e8f5fe5a101746c81b3e98f", size = 1093605 },
 ]
 
 [[package]]
@@ -835,44 +835,44 @@ wheels = [
 
 [[package]]
 name = "lxml"
-version = "5.3.1"
+version = "5.3.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ef/f6/c15ca8e5646e937c148e147244817672cf920b56ac0bf2cc1512ae674be8/lxml-5.3.1.tar.gz", hash = "sha256:106b7b5d2977b339f1e97efe2778e2ab20e99994cbb0ec5e55771ed0795920c8", size = 3678591 }
+sdist = { url = "https://files.pythonhosted.org/packages/80/61/d3dc048cd6c7be6fe45b80cedcbdd4326ba4d550375f266d9f4246d0f4bc/lxml-5.3.2.tar.gz", hash = "sha256:773947d0ed809ddad824b7b14467e1a481b8976e87278ac4a730c2f7c7fcddc1", size = 3679948 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/57/bb/2faea15df82114fa27f2a86eec220506c532ee8ce211dff22f48881b353a/lxml-5.3.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:e220f7b3e8656ab063d2eb0cd536fafef396829cafe04cb314e734f87649058f", size = 8161781 },
-    { url = "https://files.pythonhosted.org/packages/9f/d3/374114084abb1f96026eccb6cd48b070f85de82fdabae6c2f1e198fa64e5/lxml-5.3.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:0f2cfae0688fd01f7056a17367e3b84f37c545fb447d7282cf2c242b16262607", size = 4432571 },
-    { url = "https://files.pythonhosted.org/packages/0f/fb/44a46efdc235c2dd763c1e929611d8ff3b920c32b8fcd9051d38f4d04633/lxml-5.3.1-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:67d2f8ad9dcc3a9e826bdc7802ed541a44e124c29b7d95a679eeb58c1c14ade8", size = 5028919 },
-    { url = "https://files.pythonhosted.org/packages/3b/e5/168ddf9f16a90b590df509858ae97a8219d6999d5a132ad9f72427454bed/lxml-5.3.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db0c742aad702fd5d0c6611a73f9602f20aec2007c102630c06d7633d9c8f09a", size = 4769599 },
-    { url = "https://files.pythonhosted.org/packages/f9/0e/3e2742c6f4854b202eb8587c1f7ed760179f6a9fcb34a460497c8c8f3078/lxml-5.3.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:198bb4b4dd888e8390afa4f170d4fa28467a7eaf857f1952589f16cfbb67af27", size = 5369260 },
-    { url = "https://files.pythonhosted.org/packages/b8/03/b2f2ab9e33c47609c80665e75efed258b030717e06693835413b34e797cb/lxml-5.3.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d2a3e412ce1849be34b45922bfef03df32d1410a06d1cdeb793a343c2f1fd666", size = 4842798 },
-    { url = "https://files.pythonhosted.org/packages/93/ad/0ecfb082b842358c8a9e3115ec944b7240f89821baa8cd7c0cb8a38e05cb/lxml-5.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2b8969dbc8d09d9cd2ae06362c3bad27d03f433252601ef658a49bd9f2b22d79", size = 4917531 },
-    { url = "https://files.pythonhosted.org/packages/64/5b/3e93d8ebd2b7eb984c2ad74dfff75493ce96e7b954b12e4f5fc34a700414/lxml-5.3.1-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:5be8f5e4044146a69c96077c7e08f0709c13a314aa5315981185c1f00235fe65", size = 4791500 },
-    { url = "https://files.pythonhosted.org/packages/91/83/7dc412362ee7a0259c7f64349393262525061fad551a1340ef92c59d9732/lxml-5.3.1-cp311-cp311-manylinux_2_28_ppc64le.whl", hash = "sha256:133f3493253a00db2c870d3740bc458ebb7d937bd0a6a4f9328373e0db305709", size = 5404557 },
-    { url = "https://files.pythonhosted.org/packages/1e/41/c337f121d9dca148431f246825e021fa1a3f66a6b975deab1950530fdb04/lxml-5.3.1-cp311-cp311-manylinux_2_28_s390x.whl", hash = "sha256:52d82b0d436edd6a1d22d94a344b9a58abd6c68c357ed44f22d4ba8179b37629", size = 4931386 },
-    { url = "https://files.pythonhosted.org/packages/a5/73/762c319c4906b3db67e4abc7cfe7d66c34996edb6d0e8cb60f462954d662/lxml-5.3.1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:1b6f92e35e2658a5ed51c6634ceb5ddae32053182851d8cad2a5bc102a359b33", size = 4982124 },
-    { url = "https://files.pythonhosted.org/packages/c1/e7/d1e296cb3b3b46371220a31350730948d7bea41cc9123c5fd219dea33c29/lxml-5.3.1-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:203b1d3eaebd34277be06a3eb880050f18a4e4d60861efba4fb946e31071a295", size = 4852742 },
-    { url = "https://files.pythonhosted.org/packages/df/90/4adc854475105b93ead6c0c736f762d29371751340dcf5588cfcf8191b8a/lxml-5.3.1-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:155e1a5693cf4b55af652f5c0f78ef36596c7f680ff3ec6eb4d7d85367259b2c", size = 5457004 },
-    { url = "https://files.pythonhosted.org/packages/f0/0d/39864efbd231c13eb53edee2ab91c742c24d2f93efe2af7d3fe4343e42c1/lxml-5.3.1-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:22ec2b3c191f43ed21f9545e9df94c37c6b49a5af0a874008ddc9132d49a2d9c", size = 5298185 },
-    { url = "https://files.pythonhosted.org/packages/8d/7a/630a64ceb1088196de182e2e33b5899691c3e1ae21af688e394208bd6810/lxml-5.3.1-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:7eda194dd46e40ec745bf76795a7cccb02a6a41f445ad49d3cf66518b0bd9cff", size = 5032707 },
-    { url = "https://files.pythonhosted.org/packages/b2/3d/091bc7b592333754cb346c1507ca948ab39bc89d83577ac8f1da3be4dece/lxml-5.3.1-cp311-cp311-win32.whl", hash = "sha256:fb7c61d4be18e930f75948705e9718618862e6fc2ed0d7159b2262be73f167a2", size = 3474288 },
-    { url = "https://files.pythonhosted.org/packages/12/8c/7d47cfc0d04fd4e3639ec7e1c96c2561d5e890eb900de8f76eea75e0964a/lxml-5.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:c809eef167bf4a57af4b03007004896f5c60bd38dc3852fcd97a26eae3d4c9e6", size = 3815031 },
-    { url = "https://files.pythonhosted.org/packages/3b/f4/5121aa9ee8e09b8b8a28cf3709552efe3d206ca51a20d6fa471b60bb3447/lxml-5.3.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:e69add9b6b7b08c60d7ff0152c7c9a6c45b4a71a919be5abde6f98f1ea16421c", size = 8191889 },
-    { url = "https://files.pythonhosted.org/packages/0a/ca/8e9aa01edddc74878f4aea85aa9ab64372f46aa804d1c36dda861bf9eabf/lxml-5.3.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:4e52e1b148867b01c05e21837586ee307a01e793b94072d7c7b91d2c2da02ffe", size = 4450685 },
-    { url = "https://files.pythonhosted.org/packages/b2/b3/ea40a5c98619fbd7e9349df7007994506d396b97620ced34e4e5053d3734/lxml-5.3.1-cp312-cp312-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a4b382e0e636ed54cd278791d93fe2c4f370772743f02bcbe431a160089025c9", size = 5051722 },
-    { url = "https://files.pythonhosted.org/packages/3a/5e/375418be35f8a695cadfe7e7412f16520e62e24952ed93c64c9554755464/lxml-5.3.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c2e49dc23a10a1296b04ca9db200c44d3eb32c8d8ec532e8c1fd24792276522a", size = 4786661 },
-    { url = "https://files.pythonhosted.org/packages/79/7c/d258eaaa9560f6664f9b426a5165103015bee6512d8931e17342278bad0a/lxml-5.3.1-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4399b4226c4785575fb20998dc571bc48125dc92c367ce2602d0d70e0c455eb0", size = 5311766 },
-    { url = "https://files.pythonhosted.org/packages/03/bc/a041415be4135a1b3fdf017a5d873244cc16689456166fbdec4b27fba153/lxml-5.3.1-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5412500e0dc5481b1ee9cf6b38bb3b473f6e411eb62b83dc9b62699c3b7b79f7", size = 4836014 },
-    { url = "https://files.pythonhosted.org/packages/32/88/047f24967d5e3fc97848ea2c207eeef0f16239cdc47368c8b95a8dc93a33/lxml-5.3.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1c93ed3c998ea8472be98fb55aed65b5198740bfceaec07b2eba551e55b7b9ae", size = 4961064 },
-    { url = "https://files.pythonhosted.org/packages/3d/b5/ecf5a20937ecd21af02c5374020f4e3a3538e10a32379a7553fca3d77094/lxml-5.3.1-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:63d57fc94eb0bbb4735e45517afc21ef262991d8758a8f2f05dd6e4174944519", size = 4778341 },
-    { url = "https://files.pythonhosted.org/packages/a4/05/56c359e07275911ed5f35ab1d63c8cd3360d395fb91e43927a2ae90b0322/lxml-5.3.1-cp312-cp312-manylinux_2_28_ppc64le.whl", hash = "sha256:b450d7cabcd49aa7ab46a3c6aa3ac7e1593600a1a0605ba536ec0f1b99a04322", size = 5345450 },
-    { url = "https://files.pythonhosted.org/packages/b7/f4/f95e3ae12e9f32fbcde00f9affa6b0df07f495117f62dbb796a9a31c84d6/lxml-5.3.1-cp312-cp312-manylinux_2_28_s390x.whl", hash = "sha256:4df0ec814b50275ad6a99bc82a38b59f90e10e47714ac9871e1b223895825468", size = 4908336 },
-    { url = "https://files.pythonhosted.org/packages/c5/f8/309546aec092434166a6e11c7dcecb5c2d0a787c18c072d61e18da9eba57/lxml-5.3.1-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:d184f85ad2bb1f261eac55cddfcf62a70dee89982c978e92b9a74a1bfef2e367", size = 4986049 },
-    { url = "https://files.pythonhosted.org/packages/71/1c/b951817cb5058ca7c332d012dfe8bc59dabd0f0a8911ddd7b7ea8e41cfbd/lxml-5.3.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:b725e70d15906d24615201e650d5b0388b08a5187a55f119f25874d0103f90dd", size = 4860351 },
-    { url = "https://files.pythonhosted.org/packages/31/23/45feba8dae1d35fcca1e51b051f59dc4223cbd23e071a31e25f3f73938a8/lxml-5.3.1-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:a31fa7536ec1fb7155a0cd3a4e3d956c835ad0a43e3610ca32384d01f079ea1c", size = 5421580 },
-    { url = "https://files.pythonhosted.org/packages/61/69/be245d7b2dbef81c542af59c97fcd641fbf45accf2dc1c325bae7d0d014c/lxml-5.3.1-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:3c3c8b55c7fc7b7e8877b9366568cc73d68b82da7fe33d8b98527b73857a225f", size = 5285778 },
-    { url = "https://files.pythonhosted.org/packages/69/06/128af2ed04bac99b8f83becfb74c480f1aa18407b5c329fad457e08a1bf4/lxml-5.3.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:d61ec60945d694df806a9aec88e8f29a27293c6e424f8ff91c80416e3c617645", size = 5054455 },
-    { url = "https://files.pythonhosted.org/packages/8a/2d/f03a21cf6cc75cdd083563e509c7b6b159d761115c4142abb5481094ed8c/lxml-5.3.1-cp312-cp312-win32.whl", hash = "sha256:f4eac0584cdc3285ef2e74eee1513a6001681fd9753b259e8159421ed28a72e5", size = 3486315 },
-    { url = "https://files.pythonhosted.org/packages/2b/9c/8abe21585d20ef70ad9cec7562da4332b764ed69ec29b7389d23dfabcea0/lxml-5.3.1-cp312-cp312-win_amd64.whl", hash = "sha256:29bfc8d3d88e56ea0a27e7c4897b642706840247f59f4377d81be8f32aa0cfbf", size = 3816925 },
+    { url = "https://files.pythonhosted.org/packages/84/b8/2b727f5a90902f7cc5548349f563b60911ca05f3b92e35dfa751349f265f/lxml-5.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:9d61a7d0d208ace43986a92b111e035881c4ed45b1f5b7a270070acae8b0bfb4", size = 8163457 },
+    { url = "https://files.pythonhosted.org/packages/91/84/23135b2dc72b3440d68c8f39ace2bb00fe78e3a2255f7c74f7e76f22498e/lxml-5.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:856dfd7eda0b75c29ac80a31a6411ca12209183e866c33faf46e77ace3ce8a79", size = 4433445 },
+    { url = "https://files.pythonhosted.org/packages/c9/1c/6900ade2294488f80598af7b3229669562166384bb10bf4c915342a2f288/lxml-5.3.2-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7a01679e4aad0727bedd4c9407d4d65978e920f0200107ceeffd4b019bd48529", size = 5029603 },
+    { url = "https://files.pythonhosted.org/packages/2f/e9/31dbe5deaccf0d33ec279cf400306ad4b32dfd1a0fee1fca40c5e90678fe/lxml-5.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b6b37b4c3acb8472d191816d4582379f64d81cecbdce1a668601745c963ca5cc", size = 4771236 },
+    { url = "https://files.pythonhosted.org/packages/68/41/c3412392884130af3415af2e89a2007e00b2a782be6fb848a95b598a114c/lxml-5.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3df5a54e7b7c31755383f126d3a84e12a4e0333db4679462ef1165d702517477", size = 5369815 },
+    { url = "https://files.pythonhosted.org/packages/34/0a/ba0309fd5f990ea0cc05aba2bea225ef1bcb07ecbf6c323c6b119fc46e7f/lxml-5.3.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c09a40f28dcded933dc16217d6a092be0cc49ae25811d3b8e937c8060647c353", size = 4843663 },
+    { url = "https://files.pythonhosted.org/packages/b6/c6/663b5d87d51d00d4386a2d52742a62daa486c5dc6872a443409d9aeafece/lxml-5.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a1ef20f1851ccfbe6c5a04c67ec1ce49da16ba993fdbabdce87a92926e505412", size = 4918028 },
+    { url = "https://files.pythonhosted.org/packages/75/5f/f6a72ccbe05cf83341d4b6ad162ed9e1f1ffbd12f1c4b8bc8ae413392282/lxml-5.3.2-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:f79a63289dbaba964eb29ed3c103b7911f2dce28c36fe87c36a114e6bd21d7ad", size = 4792005 },
+    { url = "https://files.pythonhosted.org/packages/37/7b/8abd5b332252239ffd28df5842ee4e5bf56e1c613c323586c21ccf5af634/lxml-5.3.2-cp311-cp311-manylinux_2_28_ppc64le.whl", hash = "sha256:75a72697d95f27ae00e75086aed629f117e816387b74a2f2da6ef382b460b710", size = 5405363 },
+    { url = "https://files.pythonhosted.org/packages/5a/79/549b7ec92b8d9feb13869c1b385a0749d7ccfe5590d1e60f11add9cdd580/lxml-5.3.2-cp311-cp311-manylinux_2_28_s390x.whl", hash = "sha256:b9b00c9ee1cc3a76f1f16e94a23c344e0b6e5c10bec7f94cf2d820ce303b8c01", size = 4932915 },
+    { url = "https://files.pythonhosted.org/packages/57/eb/4fa626d0bac8b4f2aa1d0e6a86232db030fd0f462386daf339e4a0ee352b/lxml-5.3.2-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:77cbcab50cbe8c857c6ba5f37f9a3976499c60eada1bf6d38f88311373d7b4bc", size = 4983473 },
+    { url = "https://files.pythonhosted.org/packages/1b/c8/79d61d13cbb361c2c45fbe7c8bd00ea6a23b3e64bc506264d2856c60d702/lxml-5.3.2-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:29424058f072a24622a0a15357bca63d796954758248a72da6d512f9bd9a4493", size = 4855284 },
+    { url = "https://files.pythonhosted.org/packages/80/16/9f84e1ef03a13136ab4f9482c9adaaad425c68b47556b9d3192a782e5d37/lxml-5.3.2-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:7d82737a8afe69a7c80ef31d7626075cc7d6e2267f16bf68af2c764b45ed68ab", size = 5458355 },
+    { url = "https://files.pythonhosted.org/packages/aa/6d/f62860451bb4683e87636e49effb76d499773337928e53356c1712ccec24/lxml-5.3.2-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:95473d1d50a5d9fcdb9321fdc0ca6e1edc164dce4c7da13616247d27f3d21e31", size = 5300051 },
+    { url = "https://files.pythonhosted.org/packages/3f/5f/3b6c4acec17f9a57ea8bb89a658a70621db3fb86ea588e7703b6819d9b03/lxml-5.3.2-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:2162068f6da83613f8b2a32ca105e37a564afd0d7009b0b25834d47693ce3538", size = 5033481 },
+    { url = "https://files.pythonhosted.org/packages/79/bd/3c4dd7d903bb9981f4876c61ef2ff5d5473e409ef61dc7337ac207b91920/lxml-5.3.2-cp311-cp311-win32.whl", hash = "sha256:f8695752cf5d639b4e981afe6c99e060621362c416058effd5c704bede9cb5d1", size = 3474266 },
+    { url = "https://files.pythonhosted.org/packages/1f/ea/9311fa1ef75b7d601c89600fc612838ee77ad3d426184941cba9cf62641f/lxml-5.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:d1a94cbb4ee64af3ab386c2d63d6d9e9cf2e256ac0fd30f33ef0a3c88f575174", size = 3815230 },
+    { url = "https://files.pythonhosted.org/packages/0d/7e/c749257a7fabc712c4df57927b0f703507f316e9f2c7e3219f8f76d36145/lxml-5.3.2-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:16b3897691ec0316a1aa3c6585f61c8b7978475587c5b16fc1d2c28d283dc1b0", size = 8193212 },
+    { url = "https://files.pythonhosted.org/packages/a8/50/17e985ba162c9f1ca119f4445004b58f9e5ef559ded599b16755e9bfa260/lxml-5.3.2-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:a8d4b34a0eeaf6e73169dcfd653c8d47f25f09d806c010daf074fba2db5e2d3f", size = 4451439 },
+    { url = "https://files.pythonhosted.org/packages/c2/b5/4960ba0fcca6ce394ed4a2f89ee13083e7fcbe9641a91166e8e9792fedb1/lxml-5.3.2-cp312-cp312-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9cd7a959396da425022e1e4214895b5cfe7de7035a043bcc2d11303792b67554", size = 5052146 },
+    { url = "https://files.pythonhosted.org/packages/5f/d1/184b04481a5d1f5758916de087430752a7b229bddbd6c1d23405078c72bd/lxml-5.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cac5eaeec3549c5df7f8f97a5a6db6963b91639389cdd735d5a806370847732b", size = 4789082 },
+    { url = "https://files.pythonhosted.org/packages/7d/75/1a19749d373e9a3d08861addccdf50c92b628c67074b22b8f3c61997cf5a/lxml-5.3.2-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:29b5f7d77334877c2146e7bb8b94e4df980325fab0a8af4d524e5d43cd6f789d", size = 5312300 },
+    { url = "https://files.pythonhosted.org/packages/fb/00/9d165d4060d3f347e63b219fcea5c6a3f9193e9e2868c6801e18e5379725/lxml-5.3.2-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:13f3495cfec24e3d63fffd342cc8141355d1d26ee766ad388775f5c8c5ec3932", size = 4836655 },
+    { url = "https://files.pythonhosted.org/packages/b8/e9/06720a33cc155966448a19677f079100517b6629a872382d22ebd25e48aa/lxml-5.3.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e70ad4c9658beeff99856926fd3ee5fde8b519b92c693f856007177c36eb2e30", size = 4961795 },
+    { url = "https://files.pythonhosted.org/packages/2d/57/4540efab2673de2904746b37ef7f74385329afd4643ed92abcc9ec6e00ca/lxml-5.3.2-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:507085365783abd7879fa0a6fa55eddf4bdd06591b17a2418403bb3aff8a267d", size = 4779791 },
+    { url = "https://files.pythonhosted.org/packages/99/ad/6056edf6c9f4fa1d41e6fbdae52c733a4a257fd0d7feccfa26ae051bb46f/lxml-5.3.2-cp312-cp312-manylinux_2_28_ppc64le.whl", hash = "sha256:5bb304f67cbf5dfa07edad904732782cbf693286b9cd85af27059c5779131050", size = 5346807 },
+    { url = "https://files.pythonhosted.org/packages/a1/fa/5be91fc91a18f3f705ea5533bc2210b25d738c6b615bf1c91e71a9b2f26b/lxml-5.3.2-cp312-cp312-manylinux_2_28_s390x.whl", hash = "sha256:3d84f5c093645c21c29a4e972b84cb7cf682f707f8706484a5a0c7ff13d7a988", size = 4909213 },
+    { url = "https://files.pythonhosted.org/packages/f3/74/71bb96a3b5ae36b74e0402f4fa319df5559a8538577f8c57c50f1b57dc15/lxml-5.3.2-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:bdc13911db524bd63f37b0103af014b7161427ada41f1b0b3c9b5b5a9c1ca927", size = 4987694 },
+    { url = "https://files.pythonhosted.org/packages/08/c2/3953a68b0861b2f97234b1838769269478ccf872d8ea7a26e911238220ad/lxml-5.3.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:1ec944539543f66ebc060ae180d47e86aca0188bda9cbfadff47d86b0dc057dc", size = 4862865 },
+    { url = "https://files.pythonhosted.org/packages/e0/9a/52e48f7cfd5a5e61f44a77e679880580dfb4f077af52d6ed5dd97e3356fe/lxml-5.3.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:59d437cc8a7f838282df5a199cf26f97ef08f1c0fbec6e84bd6f5cc2b7913f6e", size = 5423383 },
+    { url = "https://files.pythonhosted.org/packages/17/67/42fe1d489e4dcc0b264bef361aef0b929fbb2b5378702471a3043bc6982c/lxml-5.3.2-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:0e275961adbd32e15672e14e0cc976a982075208224ce06d149c92cb43db5b93", size = 5286864 },
+    { url = "https://files.pythonhosted.org/packages/29/e4/03b1d040ee3aaf2bd4e1c2061de2eae1178fe9a460d3efc1ea7ef66f6011/lxml-5.3.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:038aeb6937aa404480c2966b7f26f1440a14005cb0702078c173c028eca72c31", size = 5056819 },
+    { url = "https://files.pythonhosted.org/packages/83/b3/e2ec8a6378e4d87da3af9de7c862bcea7ca624fc1a74b794180c82e30123/lxml-5.3.2-cp312-cp312-win32.whl", hash = "sha256:3c2c8d0fa3277147bff180e3590be67597e17d365ce94beb2efa3138a2131f71", size = 3486177 },
+    { url = "https://files.pythonhosted.org/packages/d5/8a/6a08254b0bab2da9573735725caab8302a2a1c9b3818533b41568ca489be/lxml-5.3.2-cp312-cp312-win_amd64.whl", hash = "sha256:77809fcd97dfda3f399102db1794f7280737b69830cd5c961ac87b3c5c05662d", size = 3817134 },
 ]
 
 [[package]]
@@ -1092,41 +1092,41 @@ wheels = [
 
 [[package]]
 name = "multidict"
-version = "6.2.0"
+version = "6.3.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/82/4a/7874ca44a1c9b23796c767dd94159f6c17e31c0e7d090552a1c623247d82/multidict-6.2.0.tar.gz", hash = "sha256:0085b0afb2446e57050140240a8595846ed64d1cbd26cef936bfab3192c673b8", size = 71066 }
+sdist = { url = "https://files.pythonhosted.org/packages/fa/2d/6e0d6771cadd5ad14d13193cc8326dc0b341cc1659c306cbfce7a5058fff/multidict-6.3.2.tar.gz", hash = "sha256:c1035eea471f759fa853dd6e76aaa1e389f93b3e1403093fa0fd3ab4db490678", size = 88060 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/97/aa/879cf5581bd56c19f1bd2682ee4ecfd4085a404668d4ee5138b0a08eaf2a/multidict-6.2.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:84e87a7d75fa36839a3a432286d719975362d230c70ebfa0948549cc38bd5b46", size = 49125 },
-    { url = "https://files.pythonhosted.org/packages/9e/d8/e6d47c166c13c48be8efb9720afe0f5cdc4da4687547192cbc3c03903041/multidict-6.2.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:8de4d42dffd5ced9117af2ce66ba8722402541a3aa98ffdf78dde92badb68932", size = 29689 },
-    { url = "https://files.pythonhosted.org/packages/a4/20/f3f0a2ca142c81100b6d4cbf79505961b54181d66157615bba3955304442/multidict-6.2.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:e7d91a230c7f8af86c904a5a992b8c064b66330544693fd6759c3d6162382ecf", size = 29975 },
-    { url = "https://files.pythonhosted.org/packages/ab/2d/1724972c7aeb7aa1916a3276cb32f9c39e186456ee7ed621504e7a758322/multidict-6.2.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9f6cad071960ba1914fa231677d21b1b4a3acdcce463cee41ea30bc82e6040cf", size = 135688 },
-    { url = "https://files.pythonhosted.org/packages/1a/08/ea54e7e245aaf0bb1c758578e5afba394ffccb8bd80d229a499b9b83f2b1/multidict-6.2.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0f74f2fc51555f4b037ef278efc29a870d327053aba5cb7d86ae572426c7cccc", size = 142703 },
-    { url = "https://files.pythonhosted.org/packages/97/76/960dee0424f38c71eda54101ee1ca7bb47c5250ed02f7b3e8e50b1ce0603/multidict-6.2.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:14ed9ed1bfedd72a877807c71113deac292bf485159a29025dfdc524c326f3e1", size = 138559 },
-    { url = "https://files.pythonhosted.org/packages/d0/35/969fd792e2e72801d80307f0a14f5b19c066d4a51d34dded22c71401527d/multidict-6.2.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4ac3fcf9a2d369bd075b2c2965544036a27ccd277fc3c04f708338cc57533081", size = 133312 },
-    { url = "https://files.pythonhosted.org/packages/a4/b8/f96657a2f744d577cfda5a7edf9da04a731b80d3239eafbfe7ca4d944695/multidict-6.2.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2fc6af8e39f7496047c7876314f4317736eac82bf85b54c7c76cf1a6f8e35d98", size = 125652 },
-    { url = "https://files.pythonhosted.org/packages/35/9d/97696d052297d8e2e08195a25c7aae873a6186c147b7635f979edbe3acde/multidict-6.2.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:5f8cb1329f42fadfb40d6211e5ff568d71ab49be36e759345f91c69d1033d633", size = 139015 },
-    { url = "https://files.pythonhosted.org/packages/31/a0/5c106e28d42f20288c10049bc6647364287ba049dc00d6ae4f1584eb1bd1/multidict-6.2.0-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:5389445f0173c197f4a3613713b5fb3f3879df1ded2a1a2e4bc4b5b9c5441b7e", size = 132437 },
-    { url = "https://files.pythonhosted.org/packages/55/57/d5c60c075fef73422ae3b8f914221485b9ff15000b2db657c03bd190aee0/multidict-6.2.0-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:94a7bb972178a8bfc4055db80c51efd24baefaced5e51c59b0d598a004e8305d", size = 144037 },
-    { url = "https://files.pythonhosted.org/packages/eb/56/a23f599c697a455bf65ecb0f69a5b052d6442c567d380ed423f816246824/multidict-6.2.0-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:da51d8928ad8b4244926fe862ba1795f0b6e68ed8c42cd2f822d435db9c2a8f4", size = 138535 },
-    { url = "https://files.pythonhosted.org/packages/34/3a/a06ff9b5899090f4bbdbf09e237964c76cecfe75d2aa921e801356314017/multidict-6.2.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:063be88bd684782a0715641de853e1e58a2f25b76388538bd62d974777ce9bc2", size = 136885 },
-    { url = "https://files.pythonhosted.org/packages/d6/28/489c0eca1df3800cb5d0a66278d5dd2a4deae747a41d1cf553e6a4c0a984/multidict-6.2.0-cp311-cp311-win32.whl", hash = "sha256:52b05e21ff05729fbea9bc20b3a791c3c11da61649ff64cce8257c82a020466d", size = 27044 },
-    { url = "https://files.pythonhosted.org/packages/d0/b5/c7cd5ba9581add40bc743980f82426b90d9f42db0b56502011f1b3c929df/multidict-6.2.0-cp311-cp311-win_amd64.whl", hash = "sha256:1e2a2193d3aa5cbf5758f6d5680a52aa848e0cf611da324f71e5e48a9695cc86", size = 29145 },
-    { url = "https://files.pythonhosted.org/packages/a4/e2/0153a8db878aef9b2397be81e62cbc3b32ca9b94e0f700b103027db9d506/multidict-6.2.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:437c33561edb6eb504b5a30203daf81d4a9b727e167e78b0854d9a4e18e8950b", size = 49204 },
-    { url = "https://files.pythonhosted.org/packages/bb/9d/5ccb3224a976d1286f360bb4e89e67b7cdfb87336257fc99be3c17f565d7/multidict-6.2.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:9f49585f4abadd2283034fc605961f40c638635bc60f5162276fec075f2e37a4", size = 29807 },
-    { url = "https://files.pythonhosted.org/packages/62/32/ef20037f51b84b074a89bab5af46d4565381c3f825fc7cbfc19c1ee156be/multidict-6.2.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:5dd7106d064d05896ce28c97da3f46caa442fe5a43bc26dfb258e90853b39b44", size = 30000 },
-    { url = "https://files.pythonhosted.org/packages/97/81/b0a7560bfc3ec72606232cd7e60159e09b9cf29e66014d770c1315868fa2/multidict-6.2.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e25b11a0417475f093d0f0809a149aff3943c2c56da50fdf2c3c88d57fe3dfbd", size = 131820 },
-    { url = "https://files.pythonhosted.org/packages/49/3b/768bfc0e41179fbccd3a22925329a11755b7fdd53bec66dbf6b8772f0bce/multidict-6.2.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ac380cacdd3b183338ba63a144a34e9044520a6fb30c58aa14077157a033c13e", size = 136272 },
-    { url = "https://files.pythonhosted.org/packages/71/ac/fd2be3fe98ff54e7739448f771ba730d42036de0870737db9ae34bb8efe9/multidict-6.2.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:61d5541f27533f803a941d3a3f8a3d10ed48c12cf918f557efcbf3cd04ef265c", size = 135233 },
-    { url = "https://files.pythonhosted.org/packages/93/76/1657047da771315911a927b364a32dafce4135b79b64208ce4ac69525c56/multidict-6.2.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:facaf11f21f3a4c51b62931feb13310e6fe3475f85e20d9c9fdce0d2ea561b87", size = 132861 },
-    { url = "https://files.pythonhosted.org/packages/19/a5/9f07ffb9bf68b8aaa406c2abee27ad87e8b62a60551587b8e59ee91aea84/multidict-6.2.0-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:095a2eabe8c43041d3e6c2cb8287a257b5f1801c2d6ebd1dd877424f1e89cf29", size = 122166 },
-    { url = "https://files.pythonhosted.org/packages/95/23/b5ce3318d9d6c8f105c3679510f9d7202980545aad8eb4426313bd8da3ee/multidict-6.2.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:a0cc398350ef31167e03f3ca7c19313d4e40a662adcb98a88755e4e861170bdd", size = 136052 },
-    { url = "https://files.pythonhosted.org/packages/ce/5c/02cffec58ffe120873dce520af593415b91cc324be0345f534ad3637da4e/multidict-6.2.0-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:7c611345bbe7cb44aabb877cb94b63e86f2d0db03e382667dbd037866d44b4f8", size = 130094 },
-    { url = "https://files.pythonhosted.org/packages/49/f3/3b19a83f4ebf53a3a2a0435f3e447aa227b242ba3fd96a92404b31fb3543/multidict-6.2.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:8cd1a0644ccaf27e9d2f6d9c9474faabee21f0578fe85225cc5af9a61e1653df", size = 140962 },
-    { url = "https://files.pythonhosted.org/packages/cc/1a/c916b54fb53168c24cb6a3a0795fd99d0a59a0ea93fa9f6edeff5565cb20/multidict-6.2.0-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:89b3857652183b8206a891168af47bac10b970d275bba1f6ee46565a758c078d", size = 138082 },
-    { url = "https://files.pythonhosted.org/packages/ef/1a/dcb7fb18f64b3727c61f432c1e1a0d52b3924016124e4bbc8a7d2e4fa57b/multidict-6.2.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:125dd82b40f8c06d08d87b3510beaccb88afac94e9ed4a6f6c71362dc7dbb04b", size = 136019 },
-    { url = "https://files.pythonhosted.org/packages/fb/02/7695485375106f5c542574f70e1968c391f86fa3efc9f1fd76aac0af7237/multidict-6.2.0-cp312-cp312-win32.whl", hash = "sha256:76b34c12b013d813e6cb325e6bd4f9c984db27758b16085926bbe7ceeaace626", size = 26676 },
-    { url = "https://files.pythonhosted.org/packages/3c/f5/f147000fe1f4078160157b15b0790fff0513646b0f9b7404bf34007a9b44/multidict-6.2.0-cp312-cp312-win_amd64.whl", hash = "sha256:0b183a959fb88ad1be201de2c4bdf52fa8e46e6c185d76201286a97b6f5ee65c", size = 28899 },
-    { url = "https://files.pythonhosted.org/packages/9c/fd/b247aec6add5601956d440488b7f23151d8343747e82c038af37b28d6098/multidict-6.2.0-py3-none-any.whl", hash = "sha256:5d26547423e5e71dcc562c4acdc134b900640a39abd9066d7326a7cc2324c530", size = 10266 },
+    { url = "https://files.pythonhosted.org/packages/b1/e3/443e682e42eaddad0b217b7a59627927fa42b6cd7ba7174f0a01eb3fe6b8/multidict-6.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:45a034f41fcd16968c0470d8912d293d7b0d0822fc25739c5c2ff7835b85bc56", size = 62734 },
+    { url = "https://files.pythonhosted.org/packages/b1/4f/2126e9bc37f5be2fdfa36cc192e7ef10b3e9c58eec75a4468706aca96891/multidict-6.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:352585cec45f5d83d886fc522955492bb436fca032b11d487b12d31c5a81b9e3", size = 37115 },
+    { url = "https://files.pythonhosted.org/packages/6a/af/5aae0c05a66fdf8bf015ee6903d3a250a7d9c6cc75c9478d04995e6ff1e2/multidict-6.3.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:da9d89d293511fd0a83a90559dc131f8b3292b6975eb80feff19e5f4663647e2", size = 36371 },
+    { url = "https://files.pythonhosted.org/packages/94/27/42390b75c20ff63f43fce44f36f9f66be466cd9ee05326051e4caacdb75b/multidict-6.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79fa716592224aa652b9347a586cfe018635229074565663894eb4eb21f8307f", size = 243444 },
+    { url = "https://files.pythonhosted.org/packages/21/55/77077af851d7678fe0845c4050a537321d82fb12a04d4f6db334a1cc6ff7/multidict-6.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0326278a44c56e94792475268e5cd3d47fbc0bd41ee56928c3bbb103ba7f58fe", size = 256750 },
+    { url = "https://files.pythonhosted.org/packages/f1/09/4c5bfeb2fc8a1e14002239bd6a4d9ba2963fb148889d444b05a20db32a41/multidict-6.3.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:bb1ea87f7fe45e5079f6315e95d64d4ca8b43ef656d98bed63a02e3756853a22", size = 251630 },
+    { url = "https://files.pythonhosted.org/packages/24/a9/286756a1afb8648772de851f8f39d2dd4076506f0c0fc2b751259fcbf0dd/multidict-6.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7cff3c5a98d037024a9065aafc621a8599fad7b423393685dc83cf7a32f8b691", size = 238522 },
+    { url = "https://files.pythonhosted.org/packages/c2/03/4bb17df70742aae786fcbc27e89e2e49c322134698cd0739aec93e91c669/multidict-6.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ed99834b053c655d980fb98029003cb24281e47a796052faad4543aa9e01b8e8", size = 230230 },
+    { url = "https://files.pythonhosted.org/packages/53/cc/30df95ba07a9f233ae48d0605b3f72457364836b61a8a8e3d333fdcd32c0/multidict-6.3.2-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:7048440e505d2b4741e5d0b32bd2f427c901f38c7760fc245918be2cf69b3b85", size = 239676 },
+    { url = "https://files.pythonhosted.org/packages/25/37/2d9fe2944c2df5b71ba90cf657b90ad65f1542989cdabe4d1bdbf8c51530/multidict-6.3.2-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:27248c27b563f5889556da8a96e18e98a56ff807ac1a7d56cf4453c2c9e4cd91", size = 238143 },
+    { url = "https://files.pythonhosted.org/packages/ce/13/8f833f9f992eae49f4cb1a1ad05b8fbe183721a154d51c2136b177a41bdb/multidict-6.3.2-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:6323b4ba0e018bd266f776c35f3f0943fc4ee77e481593c9f93bd49888f24e94", size = 248817 },
+    { url = "https://files.pythonhosted.org/packages/15/d4/4f49c41af6c4cab962ad51436e6c5acfbdab4fa54f5e98faa56f66f89b03/multidict-6.3.2-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:81f7ce5ec7c27d0b45c10449c8f0fed192b93251e2e98cb0b21fec779ef1dc4d", size = 241268 },
+    { url = "https://files.pythonhosted.org/packages/af/60/e723a00f7bb44366eab8d02fe6f076ecfad58331e10f6f0ce94cb989819c/multidict-6.3.2-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:03bfcf2825b3bed0ba08a9d854acd18b938cab0d2dba3372b51c78e496bac811", size = 238267 },
+    { url = "https://files.pythonhosted.org/packages/62/a6/f6b63fc51c8a4e228e6d2105061be3048b02d490d47e67f7ec2de575f1d0/multidict-6.3.2-cp311-cp311-win32.whl", hash = "sha256:f32c2790512cae6ca886920e58cdc8c784bdc4bb2a5ec74127c71980369d18dc", size = 34986 },
+    { url = "https://files.pythonhosted.org/packages/85/56/ea976a5e3ebe0e871e004d9cacfe4c803f8ade353eaf4a247580e9dd7b9d/multidict-6.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:0b0c15e58e038a2cd75ef7cf7e072bc39b5e0488b165902efb27978984bbad70", size = 38427 },
+    { url = "https://files.pythonhosted.org/packages/83/ae/bd7518193b4374484c04ba0f6522d0572dc17fcd53d238deb3cb3643c858/multidict-6.3.2-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d1e0ba1ce1b8cc79117196642d95f4365e118eaf5fb85f57cdbcc5a25640b2a4", size = 62680 },
+    { url = "https://files.pythonhosted.org/packages/59/e0/a0a9247c32f385ac4c1afefe9c3f2271fb8e235aad72332d42384c41b9cb/multidict-6.3.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:029bbd7d782251a78975214b78ee632672310f9233d49531fc93e8e99154af25", size = 37366 },
+    { url = "https://files.pythonhosted.org/packages/c3/fa/8c23cdd4492d59bea0e762662285f2163766e69e5ea715fe6a03a8670660/multidict-6.3.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:d7db41e3b56817d9175264e5fe00192fbcb8e1265307a59f53dede86161b150e", size = 36103 },
+    { url = "https://files.pythonhosted.org/packages/87/35/3bcc3616cb54d3a327b1d26dbec284c3eb7b179e8a78a6075852dbb51dac/multidict-6.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fcab18e65cc555ac29981a581518c23311f2b1e72d8f658f9891590465383be", size = 248231 },
+    { url = "https://files.pythonhosted.org/packages/b8/c3/17ddbfd6fc3eed9ab7326a43651e1a97da73f7acc69b78a7bb04b59c073d/multidict-6.3.2-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0d50eff89aa4d145a5486b171a2177042d08ea5105f813027eb1050abe91839f", size = 259423 },
+    { url = "https://files.pythonhosted.org/packages/1f/67/64b18180e8f559cc93efaaaac2fe0746b9c978560866b6fdd626d3237129/multidict-6.3.2-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:643e57b403d3e240045a3681f9e6a04d35a33eddc501b4cbbbdbc9c70122e7bc", size = 256204 },
+    { url = "https://files.pythonhosted.org/packages/21/f6/e81a8e4817c2d32787b33ae58c72dc3fe08e0ba8e56e660a225df3cb8619/multidict-6.3.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d17b37b9715b30605b5bab1460569742d0c309e5c20079263b440f5d7746e7e", size = 249663 },
+    { url = "https://files.pythonhosted.org/packages/3e/e8/44ca66758df031a8119483cf5385e2ff3b09b9c6df8f3396d626c325b553/multidict-6.3.2-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:68acd51fa94e63312b8ddf84bfc9c3d3442fe1f9988bbe1b6c703043af8867fe", size = 232236 },
+    { url = "https://files.pythonhosted.org/packages/93/76/d2faabbac582dc100a4d7ecf7d0ab8dd2aadf7f10d5d5a19e9932cf63a2e/multidict-6.3.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:347eea2852ab7f697cc5ed9b1aae96b08f8529cca0c6468f747f0781b1842898", size = 252638 },
+    { url = "https://files.pythonhosted.org/packages/63/37/f5a6ea10dab96491b7300be940f86a5490dc474d18473c438f2550b78da3/multidict-6.3.2-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:e4d3f8e57027dcda84a1aa181501c15c45eab9566eb6fcc274cbd1e7561224f8", size = 247917 },
+    { url = "https://files.pythonhosted.org/packages/d4/b1/2c32b684763b69becbaaa61b7af8a45a6f757fc82d9b4b123ca90cb69f75/multidict-6.3.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:9ca57a841ffcf712e47875d026aa49d6e67f9560624d54b51628603700d5d287", size = 261754 },
+    { url = "https://files.pythonhosted.org/packages/cd/f2/badedad94e1731debe56d076c9e61a1658c5e9d65dfa9c1ee74d1e3d31d7/multidict-6.3.2-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:7cafdafb44c4e646118410368307693e49d19167e5f119cbe3a88697d2d1a636", size = 256389 },
+    { url = "https://files.pythonhosted.org/packages/c6/3a/0a3488be2e5a6499f512e748d31e8fb90b753eb35793ecf390b9d8548e66/multidict-6.3.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:430120c6ce3715a9c6075cabcee557daccbcca8ba25a9fedf05c7bf564532f2d", size = 251902 },
+    { url = "https://files.pythonhosted.org/packages/fe/44/62f76d0a5d836b96168f39a402a75dd3114d0df3cbb5669e0310034b71be/multidict-6.3.2-cp312-cp312-win32.whl", hash = "sha256:13bec31375235a68457ab887ce1bbf4f59d5810d838ae5d7e5b416242e1f3ed4", size = 35101 },
+    { url = "https://files.pythonhosted.org/packages/8f/a4/7aaf2313e1766710010c35f9d738fd6309fb71a758f8c0e81853b90afb3d/multidict-6.3.2-cp312-cp312-win_amd64.whl", hash = "sha256:c3b6d7620e6e90c6d97eaf3a63bf7fbd2ba253aab89120a4a9c660bf2d675391", size = 38479 },
+    { url = "https://files.pythonhosted.org/packages/aa/c1/7832c95a50641148b567b5366dd3354489950dcfd01c8fc28472bec63b9a/multidict-6.3.2-py3-none-any.whl", hash = "sha256:71409d4579f716217f23be2f5e7afca5ca926aaeb398aa11b72d793bff637a1f", size = 10347 },
 ]
 
 [[package]]
@@ -1793,20 +1793,23 @@ crypto = [
 
 [[package]]
 name = "pylibsrtp"
-version = "0.11.0"
+version = "0.12.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/2e/49/1c5101ecfeda540699e0754dddfc91c401fbf736ebe99d66e59fe3dad2ba/pylibsrtp-0.11.0.tar.gz", hash = "sha256:5a8d19b1448baebde5ae3cedfa51f10e8ada3d9d99f43046ced0ecf1c105b8ec", size = 10786 }
+sdist = { url = "https://files.pythonhosted.org/packages/54/c8/a59e61f5dd655f5f21033bd643dd31fe980a537ed6f373cdfb49d3a3bd32/pylibsrtp-0.12.0.tar.gz", hash = "sha256:f5c3c0fb6954e7bb74dc7e6398352740ca67327e6759a199fe852dbc7b84b8ac", size = 10878 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b5/95/65650bf56e1080beb5f7c963a0bb11a6ee7599bfd89b33ff4525d2b5824b/pylibsrtp-0.11.0-cp39-abi3-macosx_10_9_x86_64.whl", hash = "sha256:36c6b33347d47c889b7dd465c6ae1f44d7705d00436ca613fd2a8f5dd401b104", size = 1727506 },
-    { url = "https://files.pythonhosted.org/packages/4e/b0/f12c489ea8716e74343559abc5d0dfb94d66bcfe1924d64d58424a50f496/pylibsrtp-0.11.0-cp39-abi3-macosx_11_0_arm64.whl", hash = "sha256:cf18b80f9513484a70e55136ece6ec80e7d21c03cc69abbb428e4f2745ca3cee", size = 2058008 },
-    { url = "https://files.pythonhosted.org/packages/e1/2e/6040cd6da6f82f3aa1763c8c45f7fcfdfe08db5560c73f5e1deb4c36c2bb/pylibsrtp-0.11.0-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:81bbe0cd777979f7fc45c85f0c619c9cbe709faffbf91675d9dcce560734b353", size = 2566705 },
-    { url = "https://files.pythonhosted.org/packages/2b/c9/fd313ac3a23e9c45493131d9fa3463770289e59bb8422c6c6877ab3add40/pylibsrtp-0.11.0-cp39-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:78fcdfe63925ea9a5017884c31fe9687b9b8b9f7d9beb7e25e3be47aa6ece495", size = 2168163 },
-    { url = "https://files.pythonhosted.org/packages/f9/b3/ae0bac50cc0cca4b8c14de8063ba410ed3edd82c71a2315f284c9be7d679/pylibsrtp-0.11.0-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1909f7e781a7675d5c92cbad9e7ed3642e626e2bea5834243e423976e5420ac3", size = 2224343 },
-    { url = "https://files.pythonhosted.org/packages/51/c4/650c2cecd5810f84adc89f3a94a28ea02d7ac8eaf3ee718a629c6f8ebf09/pylibsrtp-0.11.0-cp39-abi3-win32.whl", hash = "sha256:15123cecd377248747c95de9305ac314f3bcccdae46022bb4b9d60a552a26a10", size = 1156330 },
-    { url = "https://files.pythonhosted.org/packages/fe/78/724307095b95c937e54c48133be3e85779cebea770f7536be555217b31f2/pylibsrtp-0.11.0-cp39-abi3-win_amd64.whl", hash = "sha256:bea2fb98029d19de516538b13c4827b6474d6f85d9ea50fae349e9671b946f7a", size = 1486448 },
+    { url = "https://files.pythonhosted.org/packages/65/f0/b818395c4cae2d5cc5a0c78fc47d694eae78e6a0d678baeb52a381a26327/pylibsrtp-0.12.0-cp39-abi3-macosx_10_9_x86_64.whl", hash = "sha256:5adde3cf9a5feef561d0eb7ed99dedb30b9bf1ce9a0c1770b2bf19fd0b98bc9a", size = 1727918 },
+    { url = "https://files.pythonhosted.org/packages/05/1a/ee553abe4431b7bd9bab18f078c0ad2298b94ea55e664da6ecb8700b1052/pylibsrtp-0.12.0-cp39-abi3-macosx_11_0_arm64.whl", hash = "sha256:d2c81d152606721331ece87c80ed17159ba6da55c7c61a6b750cff67ab7f63a5", size = 2057900 },
+    { url = "https://files.pythonhosted.org/packages/7f/a2/2dd0188be58d3cba48c5eb4b3c787e5743c111cd0c9289de4b6f2798382a/pylibsrtp-0.12.0-cp39-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:242fa3d44219846bf1734d5df595563a2c8fbb0fb00ccc79ab0f569fc0af2c1b", size = 2567047 },
+    { url = "https://files.pythonhosted.org/packages/6c/3a/4bdab9fc1d78f2efa02c8a8f3e9c187bfa278e89481b5123f07c8dd69310/pylibsrtp-0.12.0-cp39-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b74aaf8fac1b119a3c762f54751c3d20e77227b84c26d85aae57c2c43129b49c", size = 2168775 },
+    { url = "https://files.pythonhosted.org/packages/d0/fc/0b1e1bfed420d79427d50aff84c370dcd78d81af9500c1e86fbcc5bf95e1/pylibsrtp-0.12.0-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:33e3e223102989b71f07e1deeb804170ed53fb4e1b283762eb031bd45bb425d4", size = 2225033 },
+    { url = "https://files.pythonhosted.org/packages/39/7b/e1021d27900315c2c077ec7d45f50274cedbdde067ff679d44df06f01a8a/pylibsrtp-0.12.0-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:36d07de64dbc82dbbb99fd77f36c8e23d6730bdbcccf09701945690a9a9a422a", size = 2606093 },
+    { url = "https://files.pythonhosted.org/packages/eb/c2/0fae6687a06fcde210a778148ec808af49e431c36fe9908503a695c35479/pylibsrtp-0.12.0-cp39-abi3-musllinux_1_2_i686.whl", hash = "sha256:ef03b4578577690f716fd023daed8914eee6de9a764fa128eda19a0e645cc032", size = 2193213 },
+    { url = "https://files.pythonhosted.org/packages/67/c2/2ed7a4a5c38b999fd34298f76b93d29f5ba8c06f85cfad3efd9468343715/pylibsrtp-0.12.0-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:0a8421e9fe4d20ce48d439430e55149f12b1bca1b0436741972c362c49948c0a", size = 2256774 },
+    { url = "https://files.pythonhosted.org/packages/48/d7/f13fedce3b21d24f6f154d1dee7287464a34728dcb3b0c50f687dbad5765/pylibsrtp-0.12.0-cp39-abi3-win32.whl", hash = "sha256:cbc9bfbfb2597e993a1aa16b832ba16a9dd4647f70815421bb78484f8b50b924", size = 1156186 },
+    { url = "https://files.pythonhosted.org/packages/9b/26/3a20b638a3a3995368f856eeb10701dd6c0e9ace9fb6665eeb1b95ccce19/pylibsrtp-0.12.0-cp39-abi3-win_amd64.whl", hash = "sha256:061ef1dbb5f08079ac6d7515b7e67ca48a3163e16e5b820beea6b01cb31d7e54", size = 1485072 },
 ]
 
 [[package]]
@@ -4335,15 +4338,15 @@ wheels = [
 
 [[package]]
 name = "pytest-cov"
-version = "6.0.0"
+version = "6.1.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "coverage", extra = ["toml"] },
     { name = "pytest" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/be/45/9b538de8cef30e17c7b45ef42f538a94889ed6a16f2387a6c89e73220651/pytest-cov-6.0.0.tar.gz", hash = "sha256:fde0b595ca248bb8e2d76f020b465f3b107c9632e6a1d1705f17834c89dcadc0", size = 66945 }
+sdist = { url = "https://files.pythonhosted.org/packages/25/69/5f1e57f6c5a39f81411b550027bf72842c4567ff5fd572bed1edc9e4b5d9/pytest_cov-6.1.1.tar.gz", hash = "sha256:46935f7aaefba760e716c2ebfbe1c216240b9592966e7da99ea8292d4d3e2a0a", size = 66857 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/36/3b/48e79f2cd6a61dbbd4807b4ed46cb564b4fd50a76166b1c4ea5c1d9e2371/pytest_cov-6.0.0-py3-none-any.whl", hash = "sha256:eee6f1b9e61008bd34975a4d5bab25801eb31898b032dd55addc93e96fcaaa35", size = 22949 },
+    { url = "https://files.pythonhosted.org/packages/28/d0/def53b4a790cfb21483016430ed828f64830dd981ebe1089971cd10cab25/pytest_cov-6.1.1-py3-none-any.whl", hash = "sha256:bddf29ed2d0ab6f4df17b4c55b0a657287db8684af9c42ea546b21b1041b3dde", size = 23841 },
 ]
 
 [[package]]
@@ -4567,40 +4570,40 @@ wheels = [
 
 [[package]]
 name = "pyzmq"
-version = "26.3.0"
+version = "26.4.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cffi", marker = "implementation_name == 'pypy'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/3a/ed/c3876f3b3e8beba336214ce44e1efa1792dd537027cef24192ac2b077d7c/pyzmq-26.3.0.tar.gz", hash = "sha256:f1cd68b8236faab78138a8fc703f7ca0ad431b17a3fcac696358600d4e6243b3", size = 276733 }
+sdist = { url = "https://files.pythonhosted.org/packages/b1/11/b9213d25230ac18a71b39b3723494e57adebe36e066397b961657b3b41c1/pyzmq-26.4.0.tar.gz", hash = "sha256:4bd13f85f80962f91a651a7356fe0472791a5f7a92f227822b5acf44795c626d", size = 278293 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/22/75/774e9a4a4291864dd37a03a7bfaf46a82d61cd36c16edd33a5739ad49be3/pyzmq-26.3.0-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:2833602d9d42c94b9d0d2a44d2b382d3d3a4485be018ba19dddc401a464c617a", size = 1345893 },
-    { url = "https://files.pythonhosted.org/packages/ca/51/d3eedd2bd46ef851bea528d8a2688a5091183b27fc238801fcac70e80dbb/pyzmq-26.3.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8270d104ec7caa0bdac246d31d48d94472033ceab5ba142881704350b28159c", size = 678261 },
-    { url = "https://files.pythonhosted.org/packages/de/5e/521d7c6613769dcc3ed5e44e7082938b6dab27fffe02755784e54e98e17b/pyzmq-26.3.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c208a977843d18d3bd185f323e4eaa912eb4869cb230947dc6edd8a27a4e558a", size = 915311 },
-    { url = "https://files.pythonhosted.org/packages/78/db/3be86dd82adc638a2eb07c3028c1747ead49a71d7d334980b007f593fd9f/pyzmq-26.3.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eddc2be28a379c218e0d92e4a432805dcb0ca5870156a90b54c03cd9799f9f8a", size = 873193 },
-    { url = "https://files.pythonhosted.org/packages/63/1a/81a31920d5113113ccd50271649dd2d0cfcfe46925d8f8a196fe560ed0e6/pyzmq-26.3.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:c0b519fa2159c42272f8a244354a0e110d65175647e5185b04008ec00df9f079", size = 867648 },
-    { url = "https://files.pythonhosted.org/packages/55/79/bbf57979ff2d89b5465d7205db08de7222d2560edc11272eb054c5a68cb5/pyzmq-26.3.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:1595533de3a80bf8363372c20bafa963ec4bf9f2b8f539b1d9a5017f430b84c9", size = 1208475 },
-    { url = "https://files.pythonhosted.org/packages/50/fc/1246dfc4b165e7ff97ac3c4117bdd3747e03ebb62269f71f65e216bfac8b/pyzmq-26.3.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:bbef99eb8d18ba9a40f00e8836b8040cdcf0f2fa649684cf7a66339599919d21", size = 1519428 },
-    { url = "https://files.pythonhosted.org/packages/5f/9a/143aacb6b372b0e2d812aec73a06fc5df3e169a361d4302226f8563954c6/pyzmq-26.3.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:979486d444ca3c469cd1c7f6a619ce48ff08b3b595d451937db543754bfacb65", size = 1419530 },
-    { url = "https://files.pythonhosted.org/packages/47/f7/b437e77d496089e17e77866eb126dd97ea47041b58e53892f57e82869198/pyzmq-26.3.0-cp311-cp311-win32.whl", hash = "sha256:4b127cfe10b4c56e4285b69fd4b38ea1d368099ea4273d8fb349163fce3cd598", size = 582538 },
-    { url = "https://files.pythonhosted.org/packages/a1/2c/99a01a2d7865aaf44e47c2182cbdbc15da1f2e4cfee92dc8e1fb5114f993/pyzmq-26.3.0-cp311-cp311-win_amd64.whl", hash = "sha256:cf736cc1298ef15280d9fcf7a25c09b05af016656856dc6fe5626fd8912658dd", size = 647989 },
-    { url = "https://files.pythonhosted.org/packages/60/b3/36ac1cb8fafeadff09935f4bdc1232e511af8f8893d6cebc7ceb93c6753a/pyzmq-26.3.0-cp311-cp311-win_arm64.whl", hash = "sha256:2dc46ec09f5d36f606ac8393303149e69d17121beee13c8dac25e2a2078e31c4", size = 561533 },
-    { url = "https://files.pythonhosted.org/packages/7b/03/7170c3814bb9106c1bca67700c731aaf1cd990fd2f0097c754acb600330e/pyzmq-26.3.0-cp312-cp312-macosx_10_15_universal2.whl", hash = "sha256:c80653332c6136da7f4d4e143975e74ac0fa14f851f716d90583bc19e8945cea", size = 1348354 },
-    { url = "https://files.pythonhosted.org/packages/74/f3/908b17f9111cdc764aef1de3d36026a2984c46ed90c3c2c85f28b66142f0/pyzmq-26.3.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6e317ee1d4528a03506cb1c282cd9db73660a35b3564096de37de7350e7d87a7", size = 671056 },
-    { url = "https://files.pythonhosted.org/packages/02/ad/afcb8484b65ceacd1609f709c2caeed31bd6c49261a7507cd5c175cc105f/pyzmq-26.3.0-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:943a22ebb3daacb45f76a9bcca9a7b74e7d94608c0c0505da30af900b998ca8d", size = 908597 },
-    { url = "https://files.pythonhosted.org/packages/a1/b5/4eeeae0aaaa6ef0c74cfa8b2273b53382bd858df6d99485f2fc8211e7002/pyzmq-26.3.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3fc9e71490d989144981ea21ef4fdfaa7b6aa84aff9632d91c736441ce2f6b00", size = 865260 },
-    { url = "https://files.pythonhosted.org/packages/74/6a/63db856e93e3a3c3dc98a1de28a902cf1b21c7b0d3856cd5931d7cfd30af/pyzmq-26.3.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:e281a8071a06888575a4eb523c4deeefdcd2f5fe4a2d47e02ac8bf3a5b49f695", size = 859916 },
-    { url = "https://files.pythonhosted.org/packages/e1/ce/d522c9b46ee3746d4b98c81969c568c2c6296e931a65f2c87104b645654c/pyzmq-26.3.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:be77efd735bb1064605be8dec6e721141c1421ef0b115ef54e493a64e50e9a52", size = 1201368 },
-    { url = "https://files.pythonhosted.org/packages/5a/56/29dcd3647a39e933eb489fda261a1e2700a59d4a9432889a85166e15651c/pyzmq-26.3.0-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:7a4ac2ffa34f1212dd586af90f4ba894e424f0cabb3a49cdcff944925640f6ac", size = 1512663 },
-    { url = "https://files.pythonhosted.org/packages/6b/36/7c570698127a43398ed1b1832dada59496e633115016addbce5eda9938a6/pyzmq-26.3.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:ba698c7c252af83b6bba9775035263f0df5f807f0404019916d4b71af8161f66", size = 1411693 },
-    { url = "https://files.pythonhosted.org/packages/de/54/51d39bef85a7cdbca36227f7defdbfcdc5011b8361a3bfc0e8df431f5a5d/pyzmq-26.3.0-cp312-cp312-win32.whl", hash = "sha256:214038aaa88e801e54c2ef0cfdb2e6df27eb05f67b477380a452b595c5ecfa37", size = 581244 },
-    { url = "https://files.pythonhosted.org/packages/f2/6a/9512b11a1d0c5648534f03d5ab0c3222f55dc9c192029c1cb00a0ca044e2/pyzmq-26.3.0-cp312-cp312-win_amd64.whl", hash = "sha256:bad7fe0372e505442482ca3ccbc0d6f38dae81b1650f57a0aa6bbee18e7df495", size = 643559 },
-    { url = "https://files.pythonhosted.org/packages/27/9f/faf5c9cf91b61eeb82a5e919d024d3ac28a795c92cce817be264ccd757d3/pyzmq-26.3.0-cp312-cp312-win_arm64.whl", hash = "sha256:b7b578d604e79e99aa39495becea013fd043fa9f36e4b490efa951f3d847a24d", size = 557664 },
-    { url = "https://files.pythonhosted.org/packages/f4/c6/e36b2a2ff6534cb1d1f6b3fb37901ac54675caf7b2e1239613aa40d1d217/pyzmq-26.3.0-pp311-pypy311_pp73-macosx_10_15_x86_64.whl", hash = "sha256:b4fc9903a73c25be9d5fe45c87faababcf3879445efa16140146b08fccfac017", size = 835670 },
-    { url = "https://files.pythonhosted.org/packages/1d/b9/8059c5af94b245068e7f7379c08c7e409ec854139d6021aecf2c111d8547/pyzmq-26.3.0-pp311-pypy311_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c15b69af22030960ac63567e98ad8221cddf5d720d9cf03d85021dfd452324ef", size = 570838 },
-    { url = "https://files.pythonhosted.org/packages/80/a4/f0a4266ff2d94a87f7c32895b1716f9ac0edc0471d518462beeb0a9a94b5/pyzmq-26.3.0-pp311-pypy311_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2cf9ab0dff4dbaa2e893eb608373c97eb908e53b7d9793ad00ccbd082c0ee12f", size = 799507 },
-    { url = "https://files.pythonhosted.org/packages/78/14/3d7d459f496fab8e487b23423ccba57abf7153a4fde0c3e000500fa02ff8/pyzmq-26.3.0-pp311-pypy311_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3ec332675f6a138db57aad93ae6387953763f85419bdbd18e914cb279ee1c451", size = 758002 },
-    { url = "https://files.pythonhosted.org/packages/22/65/cc1f0e1db1290770285430e36d51767e620487523e6a04094be637e55698/pyzmq-26.3.0-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:eb96568a22fe070590942cd4780950e2172e00fb033a8b76e47692583b1bd97c", size = 556425 },
+    { url = "https://files.pythonhosted.org/packages/32/6d/234e3b0aa82fd0290b1896e9992f56bdddf1f97266110be54d0177a9d2d9/pyzmq-26.4.0-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:bfcf82644c9b45ddd7cd2a041f3ff8dce4a0904429b74d73a439e8cab1bd9e54", size = 1339723 },
+    { url = "https://files.pythonhosted.org/packages/4f/11/6d561efe29ad83f7149a7cd48e498e539ed09019c6cd7ecc73f4cc725028/pyzmq-26.4.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e9bcae3979b2654d5289d3490742378b2f3ce804b0b5fd42036074e2bf35b030", size = 672645 },
+    { url = "https://files.pythonhosted.org/packages/19/fd/81bfe3e23f418644660bad1a90f0d22f0b3eebe33dd65a79385530bceb3d/pyzmq-26.4.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ccdff8ac4246b6fb60dcf3982dfaeeff5dd04f36051fe0632748fc0aa0679c01", size = 910133 },
+    { url = "https://files.pythonhosted.org/packages/97/68/321b9c775595ea3df832a9516252b653fe32818db66fdc8fa31c9b9fce37/pyzmq-26.4.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4550af385b442dc2d55ab7717837812799d3674cb12f9a3aa897611839c18e9e", size = 867428 },
+    { url = "https://files.pythonhosted.org/packages/4e/6e/159cbf2055ef36aa2aa297e01b24523176e5b48ead283c23a94179fb2ba2/pyzmq-26.4.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:2f9f7ffe9db1187a253fca95191854b3fda24696f086e8789d1d449308a34b88", size = 862409 },
+    { url = "https://files.pythonhosted.org/packages/05/1c/45fb8db7be5a7d0cadea1070a9cbded5199a2d578de2208197e592f219bd/pyzmq-26.4.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:3709c9ff7ba61589b7372923fd82b99a81932b592a5c7f1a24147c91da9a68d6", size = 1205007 },
+    { url = "https://files.pythonhosted.org/packages/f8/fa/658c7f583af6498b463f2fa600f34e298e1b330886f82f1feba0dc2dd6c3/pyzmq-26.4.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:f8f3c30fb2d26ae5ce36b59768ba60fb72507ea9efc72f8f69fa088450cff1df", size = 1514599 },
+    { url = "https://files.pythonhosted.org/packages/4d/d7/44d641522353ce0a2bbd150379cb5ec32f7120944e6bfba4846586945658/pyzmq-26.4.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:382a4a48c8080e273427fc692037e3f7d2851959ffe40864f2db32646eeb3cef", size = 1414546 },
+    { url = "https://files.pythonhosted.org/packages/72/76/c8ed7263218b3d1e9bce07b9058502024188bd52cc0b0a267a9513b431fc/pyzmq-26.4.0-cp311-cp311-win32.whl", hash = "sha256:d56aad0517d4c09e3b4f15adebba8f6372c5102c27742a5bdbfc74a7dceb8fca", size = 579247 },
+    { url = "https://files.pythonhosted.org/packages/c3/d0/2d9abfa2571a0b1a67c0ada79a8aa1ba1cce57992d80f771abcdf99bb32c/pyzmq-26.4.0-cp311-cp311-win_amd64.whl", hash = "sha256:963977ac8baed7058c1e126014f3fe58b3773f45c78cce7af5c26c09b6823896", size = 644727 },
+    { url = "https://files.pythonhosted.org/packages/0d/d1/c8ad82393be6ccedfc3c9f3adb07f8f3976e3c4802640fe3f71441941e70/pyzmq-26.4.0-cp311-cp311-win_arm64.whl", hash = "sha256:c0c8e8cadc81e44cc5088fcd53b9b3b4ce9344815f6c4a03aec653509296fae3", size = 559942 },
+    { url = "https://files.pythonhosted.org/packages/10/44/a778555ebfdf6c7fc00816aad12d185d10a74d975800341b1bc36bad1187/pyzmq-26.4.0-cp312-cp312-macosx_10_15_universal2.whl", hash = "sha256:5227cb8da4b6f68acfd48d20c588197fd67745c278827d5238c707daf579227b", size = 1341586 },
+    { url = "https://files.pythonhosted.org/packages/9c/4f/f3a58dc69ac757e5103be3bd41fb78721a5e17da7cc617ddb56d973a365c/pyzmq-26.4.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e1c07a7fa7f7ba86554a2b1bef198c9fed570c08ee062fd2fd6a4dcacd45f905", size = 665880 },
+    { url = "https://files.pythonhosted.org/packages/fe/45/50230bcfb3ae5cb98bee683b6edeba1919f2565d7cc1851d3c38e2260795/pyzmq-26.4.0-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ae775fa83f52f52de73183f7ef5395186f7105d5ed65b1ae65ba27cb1260de2b", size = 902216 },
+    { url = "https://files.pythonhosted.org/packages/41/59/56bbdc5689be5e13727491ad2ba5efd7cd564365750514f9bc8f212eef82/pyzmq-26.4.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:66c760d0226ebd52f1e6b644a9e839b5db1e107a23f2fcd46ec0569a4fdd4e63", size = 859814 },
+    { url = "https://files.pythonhosted.org/packages/81/b1/57db58cfc8af592ce94f40649bd1804369c05b2190e4cbc0a2dad572baeb/pyzmq-26.4.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:ef8c6ecc1d520debc147173eaa3765d53f06cd8dbe7bd377064cdbc53ab456f5", size = 855889 },
+    { url = "https://files.pythonhosted.org/packages/e8/92/47542e629cbac8f221c230a6d0f38dd3d9cff9f6f589ed45fdf572ffd726/pyzmq-26.4.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:3150ef4084e163dec29ae667b10d96aad309b668fac6810c9e8c27cf543d6e0b", size = 1197153 },
+    { url = "https://files.pythonhosted.org/packages/07/e5/b10a979d1d565d54410afc87499b16c96b4a181af46e7645ab4831b1088c/pyzmq-26.4.0-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:4448c9e55bf8329fa1dcedd32f661bf611214fa70c8e02fee4347bc589d39a84", size = 1507352 },
+    { url = "https://files.pythonhosted.org/packages/ab/58/5a23db84507ab9c01c04b1232a7a763be66e992aa2e66498521bbbc72a71/pyzmq-26.4.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:e07dde3647afb084d985310d067a3efa6efad0621ee10826f2cb2f9a31b89d2f", size = 1406834 },
+    { url = "https://files.pythonhosted.org/packages/22/74/aaa837b331580c13b79ac39396601fb361454ee184ca85e8861914769b99/pyzmq-26.4.0-cp312-cp312-win32.whl", hash = "sha256:ba034a32ecf9af72adfa5ee383ad0fd4f4e38cdb62b13624278ef768fe5b5b44", size = 577992 },
+    { url = "https://files.pythonhosted.org/packages/30/0f/55f8c02c182856743b82dde46b2dc3e314edda7f1098c12a8227eeda0833/pyzmq-26.4.0-cp312-cp312-win_amd64.whl", hash = "sha256:056a97aab4064f526ecb32f4343917a4022a5d9efb6b9df990ff72e1879e40be", size = 640466 },
+    { url = "https://files.pythonhosted.org/packages/e4/29/073779afc3ef6f830b8de95026ef20b2d1ec22d0324d767748d806e57379/pyzmq-26.4.0-cp312-cp312-win_arm64.whl", hash = "sha256:2f23c750e485ce1eb639dbd576d27d168595908aa2d60b149e2d9e34c9df40e0", size = 556342 },
+    { url = "https://files.pythonhosted.org/packages/04/52/a70fcd5592715702248306d8e1729c10742c2eac44529984413b05c68658/pyzmq-26.4.0-pp311-pypy311_pp73-macosx_10_15_x86_64.whl", hash = "sha256:4478b14cb54a805088299c25a79f27eaf530564a7a4f72bf432a040042b554eb", size = 834405 },
+    { url = "https://files.pythonhosted.org/packages/25/f9/1a03f1accff16b3af1a6fa22cbf7ced074776abbf688b2e9cb4629700c62/pyzmq-26.4.0-pp311-pypy311_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8a28ac29c60e4ba84b5f58605ace8ad495414a724fe7aceb7cf06cd0598d04e1", size = 569578 },
+    { url = "https://files.pythonhosted.org/packages/76/0c/3a633acd762aa6655fcb71fa841907eae0ab1e8582ff494b137266de341d/pyzmq-26.4.0-pp311-pypy311_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:43b03c1ceea27c6520124f4fb2ba9c647409b9abdf9a62388117148a90419494", size = 798248 },
+    { url = "https://files.pythonhosted.org/packages/cd/cc/6c99c84aa60ac1cc56747bed6be8ce6305b9b861d7475772e7a25ce019d3/pyzmq-26.4.0-pp311-pypy311_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7731abd23a782851426d4e37deb2057bf9410848a4459b5ede4fe89342e687a9", size = 756757 },
+    { url = "https://files.pythonhosted.org/packages/13/9c/d8073bd898eb896e94c679abe82e47506e2b750eb261cf6010ced869797c/pyzmq-26.4.0-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:a222ad02fbe80166b0526c038776e8042cd4e5f0dec1489a006a1df47e9040e0", size = 555371 },
 ]
 
 [[package]]
@@ -4710,27 +4713,27 @@ wheels = [
 
 [[package]]
 name = "ruff"
-version = "0.11.2"
+version = "0.11.4"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/90/61/fb87430f040e4e577e784e325351186976516faef17d6fcd921fe28edfd7/ruff-0.11.2.tar.gz", hash = "sha256:ec47591497d5a1050175bdf4e1a4e6272cddff7da88a2ad595e1e326041d8d94", size = 3857511 }
+sdist = { url = "https://files.pythonhosted.org/packages/e8/5b/3ae20f89777115944e89c2d8c2e795dcc5b9e04052f76d5347e35e0da66e/ruff-0.11.4.tar.gz", hash = "sha256:f45bd2fb1a56a5a85fae3b95add03fb185a0b30cf47f5edc92aa0355ca1d7407", size = 3933063 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/62/99/102578506f0f5fa29fd7e0df0a273864f79af044757aef73d1cae0afe6ad/ruff-0.11.2-py3-none-linux_armv6l.whl", hash = "sha256:c69e20ea49e973f3afec2c06376eb56045709f0212615c1adb0eda35e8a4e477", size = 10113146 },
-    { url = "https://files.pythonhosted.org/packages/74/ad/5cd4ba58ab602a579997a8494b96f10f316e874d7c435bcc1a92e6da1b12/ruff-0.11.2-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:2c5424cc1c4eb1d8ecabe6d4f1b70470b4f24a0c0171356290b1953ad8f0e272", size = 10867092 },
-    { url = "https://files.pythonhosted.org/packages/fc/3e/d3f13619e1d152c7b600a38c1a035e833e794c6625c9a6cea6f63dbf3af4/ruff-0.11.2-py3-none-macosx_11_0_arm64.whl", hash = "sha256:ecf20854cc73f42171eedb66f006a43d0a21bfb98a2523a809931cda569552d9", size = 10224082 },
-    { url = "https://files.pythonhosted.org/packages/90/06/f77b3d790d24a93f38e3806216f263974909888fd1e826717c3ec956bbcd/ruff-0.11.2-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0c543bf65d5d27240321604cee0633a70c6c25c9a2f2492efa9f6d4b8e4199bb", size = 10394818 },
-    { url = "https://files.pythonhosted.org/packages/99/7f/78aa431d3ddebfc2418cd95b786642557ba8b3cb578c075239da9ce97ff9/ruff-0.11.2-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:20967168cc21195db5830b9224be0e964cc9c8ecf3b5a9e3ce19876e8d3a96e3", size = 9952251 },
-    { url = "https://files.pythonhosted.org/packages/30/3e/f11186d1ddfaca438c3bbff73c6a2fdb5b60e6450cc466129c694b0ab7a2/ruff-0.11.2-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:955a9ce63483999d9f0b8f0b4a3ad669e53484232853054cc8b9d51ab4c5de74", size = 11563566 },
-    { url = "https://files.pythonhosted.org/packages/22/6c/6ca91befbc0a6539ee133d9a9ce60b1a354db12c3c5d11cfdbf77140f851/ruff-0.11.2-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:86b3a27c38b8fce73bcd262b0de32e9a6801b76d52cdb3ae4c914515f0cef608", size = 12208721 },
-    { url = "https://files.pythonhosted.org/packages/19/b0/24516a3b850d55b17c03fc399b681c6a549d06ce665915721dc5d6458a5c/ruff-0.11.2-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a3b66a03b248c9fcd9d64d445bafdf1589326bee6fc5c8e92d7562e58883e30f", size = 11662274 },
-    { url = "https://files.pythonhosted.org/packages/d7/65/76be06d28ecb7c6070280cef2bcb20c98fbf99ff60b1c57d2fb9b8771348/ruff-0.11.2-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:0397c2672db015be5aa3d4dac54c69aa012429097ff219392c018e21f5085147", size = 13792284 },
-    { url = "https://files.pythonhosted.org/packages/ce/d2/4ceed7147e05852876f3b5f3fdc23f878ce2b7e0b90dd6e698bda3d20787/ruff-0.11.2-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:869bcf3f9abf6457fbe39b5a37333aa4eecc52a3b99c98827ccc371a8e5b6f1b", size = 11327861 },
-    { url = "https://files.pythonhosted.org/packages/c4/78/4935ecba13706fd60ebe0e3dc50371f2bdc3d9bc80e68adc32ff93914534/ruff-0.11.2-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:2a2b50ca35457ba785cd8c93ebbe529467594087b527a08d487cf0ee7b3087e9", size = 10276560 },
-    { url = "https://files.pythonhosted.org/packages/81/7f/1b2435c3f5245d410bb5dc80f13ec796454c21fbda12b77d7588d5cf4e29/ruff-0.11.2-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:7c69c74bf53ddcfbc22e6eb2f31211df7f65054bfc1f72288fc71e5f82db3eab", size = 9945091 },
-    { url = "https://files.pythonhosted.org/packages/39/c4/692284c07e6bf2b31d82bb8c32f8840f9d0627d92983edaac991a2b66c0a/ruff-0.11.2-py3-none-musllinux_1_2_i686.whl", hash = "sha256:6e8fb75e14560f7cf53b15bbc55baf5ecbe373dd5f3aab96ff7aa7777edd7630", size = 10977133 },
-    { url = "https://files.pythonhosted.org/packages/94/cf/8ab81cb7dd7a3b0a3960c2769825038f3adcd75faf46dd6376086df8b128/ruff-0.11.2-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:842a472d7b4d6f5924e9297aa38149e5dcb1e628773b70e6387ae2c97a63c58f", size = 11378514 },
-    { url = "https://files.pythonhosted.org/packages/d9/3a/a647fa4f316482dacf2fd68e8a386327a33d6eabd8eb2f9a0c3d291ec549/ruff-0.11.2-py3-none-win32.whl", hash = "sha256:aca01ccd0eb5eb7156b324cfaa088586f06a86d9e5314b0eb330cb48415097cc", size = 10319835 },
-    { url = "https://files.pythonhosted.org/packages/86/54/3c12d3af58012a5e2cd7ebdbe9983f4834af3f8cbea0e8a8c74fa1e23b2b/ruff-0.11.2-py3-none-win_amd64.whl", hash = "sha256:3170150172a8f994136c0c66f494edf199a0bbea7a409f649e4bc8f4d7084080", size = 11373713 },
-    { url = "https://files.pythonhosted.org/packages/d6/d4/dd813703af8a1e2ac33bf3feb27e8a5ad514c9f219df80c64d69807e7f71/ruff-0.11.2-py3-none-win_arm64.whl", hash = "sha256:52933095158ff328f4c77af3d74f0379e34fd52f175144cefc1b192e7ccd32b4", size = 10441990 },
+    { url = "https://files.pythonhosted.org/packages/9c/db/baee59ac88f57527fcbaad3a7b309994e42329c6bc4d4d2b681a3d7b5426/ruff-0.11.4-py3-none-linux_armv6l.whl", hash = "sha256:d9f4a761ecbde448a2d3e12fb398647c7f0bf526dbc354a643ec505965824ed2", size = 10106493 },
+    { url = "https://files.pythonhosted.org/packages/c1/d6/9a0962cbb347f4ff98b33d699bf1193ff04ca93bed4b4222fd881b502154/ruff-0.11.4-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:8c1747d903447d45ca3d40c794d1a56458c51e5cc1bc77b7b64bd2cf0b1626cc", size = 10876382 },
+    { url = "https://files.pythonhosted.org/packages/3a/8f/62bab0c7d7e1ae3707b69b157701b41c1ccab8f83e8501734d12ea8a839f/ruff-0.11.4-py3-none-macosx_11_0_arm64.whl", hash = "sha256:51a6494209cacca79e121e9b244dc30d3414dac8cc5afb93f852173a2ecfc906", size = 10237050 },
+    { url = "https://files.pythonhosted.org/packages/09/96/e296965ae9705af19c265d4d441958ed65c0c58fc4ec340c27cc9d2a1f5b/ruff-0.11.4-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3f171605f65f4fc49c87f41b456e882cd0c89e4ac9d58e149a2b07930e1d466f", size = 10424984 },
+    { url = "https://files.pythonhosted.org/packages/e5/56/644595eb57d855afed6e54b852e2df8cd5ca94c78043b2f29bdfb29882d5/ruff-0.11.4-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ebf99ea9af918878e6ce42098981fc8c1db3850fef2f1ada69fb1dcdb0f8e79e", size = 9957438 },
+    { url = "https://files.pythonhosted.org/packages/86/83/9d3f3bed0118aef3e871ded9e5687fb8c5776bde233427fd9ce0a45db2d4/ruff-0.11.4-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:edad2eac42279df12e176564a23fc6f4aaeeb09abba840627780b1bb11a9d223", size = 11547282 },
+    { url = "https://files.pythonhosted.org/packages/40/e6/0c6e4f5ae72fac5ccb44d72c0111f294a5c2c8cc5024afcb38e6bda5f4b3/ruff-0.11.4-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:f103a848be9ff379fc19b5d656c1f911d0a0b4e3e0424f9532ececf319a4296e", size = 12182020 },
+    { url = "https://files.pythonhosted.org/packages/b5/92/4aed0e460aeb1df5ea0c2fbe8d04f9725cccdb25d8da09a0d3f5b8764bf8/ruff-0.11.4-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:193e6fac6eb60cc97b9f728e953c21cc38a20077ed64f912e9d62b97487f3f2d", size = 11679154 },
+    { url = "https://files.pythonhosted.org/packages/1b/d3/7316aa2609f2c592038e2543483eafbc62a0e1a6a6965178e284808c095c/ruff-0.11.4-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7af4e5f69b7c138be8dcffa5b4a061bf6ba6a3301f632a6bce25d45daff9bc99", size = 13905985 },
+    { url = "https://files.pythonhosted.org/packages/63/80/734d3d17546e47ff99871f44ea7540ad2bbd7a480ed197fe8a1c8a261075/ruff-0.11.4-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:126b1bf13154aa18ae2d6c3c5efe144ec14b97c60844cfa6eb960c2a05188222", size = 11348343 },
+    { url = "https://files.pythonhosted.org/packages/04/7b/70fc7f09a0161dce9613a4671d198f609e653d6f4ff9eee14d64c4c240fb/ruff-0.11.4-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:e8806daaf9dfa881a0ed603f8a0e364e4f11b6ed461b56cae2b1c0cab0645304", size = 10308487 },
+    { url = "https://files.pythonhosted.org/packages/1a/22/1cdd62dabd678d75842bf4944fd889cf794dc9e58c18cc547f9eb28f95ed/ruff-0.11.4-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:5d94bb1cc2fc94a769b0eb975344f1b1f3d294da1da9ddbb5a77665feb3a3019", size = 9929091 },
+    { url = "https://files.pythonhosted.org/packages/9f/20/40e0563506332313148e783bbc1e4276d657962cc370657b2fff20e6e058/ruff-0.11.4-py3-none-musllinux_1_2_i686.whl", hash = "sha256:995071203d0fe2183fc7a268766fd7603afb9996785f086b0d76edee8755c896", size = 10924659 },
+    { url = "https://files.pythonhosted.org/packages/b5/41/eef9b7aac8819d9e942f617f9db296f13d2c4576806d604aba8db5a753f1/ruff-0.11.4-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:7a37ca937e307ea18156e775a6ac6e02f34b99e8c23fe63c1996185a4efe0751", size = 11428160 },
+    { url = "https://files.pythonhosted.org/packages/ff/61/c488943414fb2b8754c02f3879de003e26efdd20f38167ded3fb3fc1cda3/ruff-0.11.4-py3-none-win32.whl", hash = "sha256:0e9365a7dff9b93af933dab8aebce53b72d8f815e131796268709890b4a83270", size = 10311496 },
+    { url = "https://files.pythonhosted.org/packages/b6/2b/2a1c8deb5f5dfa3871eb7daa41492c4d2b2824a74d2b38e788617612a66d/ruff-0.11.4-py3-none-win_amd64.whl", hash = "sha256:5a9fa1c69c7815e39fcfb3646bbfd7f528fa8e2d4bebdcf4c2bd0fa037a255fb", size = 11399146 },
+    { url = "https://files.pythonhosted.org/packages/4f/03/3aec4846226d54a37822e4c7ea39489e4abd6f88388fba74e3d4abe77300/ruff-0.11.4-py3-none-win_arm64.whl", hash = "sha256:d435db6b9b93d02934cf61ef332e66af82da6d8c69aefdea5994c89997c7a0fc", size = 10450306 },
 ]
 
 [[package]]
@@ -4744,15 +4747,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.25.0"
+version = "2.25.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/03/53/5b7e87cc7508a2bafc1e0797d48645d74b925aa875dc7c0d376e8f70d3da/sentry_sdk-2.25.0.tar.gz", hash = "sha256:a6e623691ff03d1758f940fe421e5b65f313f4ac37638079ab94d1b6f052eb15", size = 320406 }
+sdist = { url = "https://files.pythonhosted.org/packages/85/2f/a0f732270cc7c1834f5ec45539aec87c360d5483a8bd788217a9102ccfbd/sentry_sdk-2.25.1.tar.gz", hash = "sha256:f9041b7054a7cf12d41eadabe6458ce7c6d6eea7a97cfe1b760b6692e9562cf0", size = 322190 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/7f/3f/3d2ad64b82c09fdf7a4a38289e0f4e0da1add985455b6360aa1c8518bc85/sentry_sdk-2.25.0-py2.py3-none-any.whl", hash = "sha256:aa0f558209c1819391421d65e25b1c4000f49580e6ecf5c05ff0c6e74f74470b", size = 338490 },
+    { url = "https://files.pythonhosted.org/packages/96/b6/84049ab0967affbc7cc7590d86ae0170c1b494edb69df8786707100420e5/sentry_sdk-2.25.1-py2.py3-none-any.whl", hash = "sha256:60b016d0772789454dc55a284a6a44212044d4a16d9f8448725effee97aaf7f6", size = 339851 },
 ]
 
 [[package]]
@@ -4798,25 +4801,29 @@ wheels = [
 
 [[package]]
 name = "shapely"
-version = "2.0.7"
+version = "2.1.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "numpy" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/21/c0/a911d1fd765d07a2b6769ce155219a281bfbe311584ebe97340d75c5bdb1/shapely-2.0.7.tar.gz", hash = "sha256:28fe2997aab9a9dc026dc6a355d04e85841546b2a5d232ed953e3321ab958ee5", size = 283413 }
+sdist = { url = "https://files.pythonhosted.org/packages/fb/fe/3b0d2f828ffaceadcdcb51b75b9c62d98e62dd95ce575278de35f24a1c20/shapely-2.1.0.tar.gz", hash = "sha256:2cbe90e86fa8fc3ca8af6ffb00a77b246b918c7cf28677b7c21489b678f6b02e", size = 313617 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1d/ad/21798c2fec013e289f8ab91d42d4d3299c315b8c4460c08c75fef0901713/shapely-2.0.7-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:5cf23400cb25deccf48c56a7cdda8197ae66c0e9097fcdd122ac2007e320bc34", size = 1473091 },
-    { url = "https://files.pythonhosted.org/packages/15/63/eef4f180f1b5859c70e7f91d2f2570643e5c61e7d7c40743d15f8c6cbc42/shapely-2.0.7-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d8f1da01c04527f7da59ee3755d8ee112cd8967c15fab9e43bba936b81e2a013", size = 1332921 },
-    { url = "https://files.pythonhosted.org/packages/fe/67/77851dd17738bbe7762a0ef1acf7bc499d756f68600dd68a987d78229412/shapely-2.0.7-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8f623b64bb219d62014781120f47499a7adc30cf7787e24b659e56651ceebcb0", size = 2427949 },
-    { url = "https://files.pythonhosted.org/packages/0b/a5/2c8dbb0f383519771df19164e3bf3a8895d195d2edeab4b6040f176ee28e/shapely-2.0.7-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e6d95703efaa64aaabf278ced641b888fc23d9c6dd71f8215091afd8a26a66e3", size = 2529282 },
-    { url = "https://files.pythonhosted.org/packages/dc/4e/e1d608773c7fe4cde36d48903c0d6298e3233dc69412403783ac03fa5205/shapely-2.0.7-cp311-cp311-win32.whl", hash = "sha256:2f6e4759cf680a0f00a54234902415f2fa5fe02f6b05546c662654001f0793a2", size = 1295751 },
-    { url = "https://files.pythonhosted.org/packages/27/57/8ec7c62012bed06731f7ee979da7f207bbc4b27feed5f36680b6a70df54f/shapely-2.0.7-cp311-cp311-win_amd64.whl", hash = "sha256:b52f3ab845d32dfd20afba86675c91919a622f4627182daec64974db9b0b4608", size = 1442684 },
-    { url = "https://files.pythonhosted.org/packages/4f/3e/ea100eec5811bafd0175eb21828a3be5b0960f65250f4474391868be7c0f/shapely-2.0.7-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:4c2b9859424facbafa54f4a19b625a752ff958ab49e01bc695f254f7db1835fa", size = 1482451 },
-    { url = "https://files.pythonhosted.org/packages/ce/53/c6a3487716fd32e1f813d2a9608ba7b72a8a52a6966e31c6443480a1d016/shapely-2.0.7-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:5aed1c6764f51011d69a679fdf6b57e691371ae49ebe28c3edb5486537ffbd51", size = 1345765 },
-    { url = "https://files.pythonhosted.org/packages/fd/dd/b35d7891d25cc11066a70fb8d8169a6a7fca0735dd9b4d563a84684969a3/shapely-2.0.7-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:73c9ae8cf443187d784d57202199bf9fd2d4bb7d5521fe8926ba40db1bc33e8e", size = 2421540 },
-    { url = "https://files.pythonhosted.org/packages/62/de/8dbd7df60eb23cb983bb698aac982944b3d602ef0ce877a940c269eae34e/shapely-2.0.7-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a9469f49ff873ef566864cb3516091881f217b5d231c8164f7883990eec88b73", size = 2525741 },
-    { url = "https://files.pythonhosted.org/packages/96/64/faf0413ebc7a84fe7a0790bf39ec0b02b40132b68e57aba985c0b6e4e7b6/shapely-2.0.7-cp312-cp312-win32.whl", hash = "sha256:6bca5095e86be9d4ef3cb52d56bdd66df63ff111d580855cb8546f06c3c907cd", size = 1296552 },
-    { url = "https://files.pythonhosted.org/packages/63/05/8a1c279c226d6ad7604d9e237713dd21788eab96db97bf4ce0ea565e5596/shapely-2.0.7-cp312-cp312-win_amd64.whl", hash = "sha256:f86e2c0259fe598c4532acfcf638c1f520fa77c1275912bbc958faecbf00b108", size = 1443464 },
+    { url = "https://files.pythonhosted.org/packages/1c/37/ae448f06f363ff3dfe4bae890abd842c4e3e9edaf01245dbc9b97008c9e6/shapely-2.1.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c8323031ef7c1bdda7a92d5ddbc7b6b62702e73ba37e9a8ccc8da99ec2c0b87c", size = 1820974 },
+    { url = "https://files.pythonhosted.org/packages/78/da/ea2a898e93c6953c5eef353a0e1781a0013a1352f2b90aa9ab0b800e0c75/shapely-2.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4da7c6cd748d86ec6aace99ad17129d30954ccf5e73e9911cdb5f0fa9658b4f8", size = 1624137 },
+    { url = "https://files.pythonhosted.org/packages/64/4a/f903f82f0fabcd3f43ea2e8132cabda079119247330a9fe58018c39c4e22/shapely-2.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1f0cdf85ff80831137067e7a237085a3ee72c225dba1b30beef87f7d396cf02b", size = 2957161 },
+    { url = "https://files.pythonhosted.org/packages/92/07/3e2738c542d73182066196b8ce99388cb537d19e300e428d50b1537e3b21/shapely-2.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:41f2be5d79aac39886f23000727cf02001aef3af8810176c29ee12cdc3ef3a50", size = 3078530 },
+    { url = "https://files.pythonhosted.org/packages/82/08/32210e63d8f8af9142d37c2433ece4846862cdac91a0fe66f040780a71bd/shapely-2.1.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:21a4515009f56d7a159cf5c2554264e82f56405b4721f9a422cb397237c5dca8", size = 3902208 },
+    { url = "https://files.pythonhosted.org/packages/19/0e/0abb5225f8a32fbdb615476637038a7d2db40c0af46d1bb3a08b869bee39/shapely-2.1.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:15cebc323cec2cb6b2eaa310fdfc621f6dbbfaf6bde336d13838fcea76c885a9", size = 4082863 },
+    { url = "https://files.pythonhosted.org/packages/f8/1b/7cd816fd388108c872ab7e2930180b02d0c34891213f361e4a66e5e032f2/shapely-2.1.0-cp311-cp311-win32.whl", hash = "sha256:cad51b7a5c8f82f5640472944a74f0f239123dde9a63042b3c5ea311739b7d20", size = 1527488 },
+    { url = "https://files.pythonhosted.org/packages/fd/28/7bb5b1944d4002d4b2f967762018500381c3b532f98e456bbda40c3ded68/shapely-2.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:d4005309dde8658e287ad9c435c81877f6a95a9419b932fa7a1f34b120f270ae", size = 1708311 },
+    { url = "https://files.pythonhosted.org/packages/4e/d1/6a9371ec39d3ef08e13225594e6c55b045209629afd9e6d403204507c2a8/shapely-2.1.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:53e7ee8bd8609cf12ee6dce01ea5affe676976cf7049315751d53d8db6d2b4b2", size = 1830732 },
+    { url = "https://files.pythonhosted.org/packages/32/87/799e3e48be7ce848c08509b94d2180f4ddb02e846e3c62d0af33da4d78d3/shapely-2.1.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:3cab20b665d26dbec0b380e15749bea720885a481fa7b1eedc88195d4a98cfa4", size = 1638404 },
+    { url = "https://files.pythonhosted.org/packages/85/00/6665d77f9dd09478ab0993b8bc31668aec4fd3e5f1ddd1b28dd5830e47be/shapely-2.1.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f4a38b39a09340273c3c92b3b9a374272a12cc7e468aeeea22c1c46217a03e5c", size = 2945316 },
+    { url = "https://files.pythonhosted.org/packages/34/49/738e07d10bbc67cae0dcfe5a484c6e518a517f4f90550dda2adf3a78b9f2/shapely-2.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:edaec656bdd9b71278b98e6f77c464b1c3b2daa9eace78012ff0f0b4b5b15b04", size = 3063099 },
+    { url = "https://files.pythonhosted.org/packages/88/b8/138098674559362ab29f152bff3b6630de423378fbb0324812742433a4ef/shapely-2.1.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:c8a732ddd9b25e7a54aa748e7df8fd704e23e5d5d35b7d376d80bffbfc376d04", size = 3887873 },
+    { url = "https://files.pythonhosted.org/packages/67/a8/fdae7c2db009244991d86f4d2ca09d2f5ccc9d41c312c3b1ee1404dc55da/shapely-2.1.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:9c93693ad8adfdc9138a5a2d42da02da94f728dd2e82d2f0f442f10e25027f5f", size = 4067004 },
+    { url = "https://files.pythonhosted.org/packages/ed/78/17e17d91b489019379df3ee1afc4bd39787b232aaa1d540f7d376f0280b7/shapely-2.1.0-cp312-cp312-win32.whl", hash = "sha256:d8ac6604eefe807e71a908524de23a37920133a1729fe3a4dfe0ed82c044cbf4", size = 1527366 },
+    { url = "https://files.pythonhosted.org/packages/b8/bd/9249bd6dda948441e25e4fb14cbbb5205146b0fff12c66b19331f1ff2141/shapely-2.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f4f47e631aa4f9ec5576eac546eb3f38802e2f82aeb0552f9612cb9a14ece1db", size = 1708265 },
 ]
 
 [[package]]
@@ -4972,11 +4979,11 @@ wheels = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.13.0"
+version = "4.13.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/0e/3e/b00a62db91a83fff600de219b6ea9908e6918664899a2d85db222f4fbf19/typing_extensions-4.13.0.tar.gz", hash = "sha256:0a4ac55a5820789d87e297727d229866c9650f6521b64206413c4fbada24d95b", size = 106520 }
+sdist = { url = "https://files.pythonhosted.org/packages/76/ad/cd3e3465232ec2416ae9b983f27b9e94dc8171d56ac99b345319a9475967/typing_extensions-4.13.1.tar.gz", hash = "sha256:98795af00fb9640edec5b8e31fc647597b4691f099ad75f469a2616be1a76dff", size = 106633 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/e0/86/39b65d676ec5732de17b7e3c476e45bb80ec64eb50737a8dce1a4178aba1/typing_extensions-4.13.0-py3-none-any.whl", hash = "sha256:c8dd92cc0d6425a97c18fbb9d1954e5ff92c1ca881a309c45f06ebc0b79058e5", size = 45683 },
+    { url = "https://files.pythonhosted.org/packages/df/c5/e7a0b0f5ed69f94c8ab7379c599e6036886bffcde609969a5325f47f1332/typing_extensions-4.13.1-py3-none-any.whl", hash = "sha256:4b6cf02909eb5495cfbc3f6e8fd49217e6cc7944e145cdda8caa3734777f9e69", size = 45739 },
 ]
 
 [[package]]
@@ -5035,48 +5042,50 @@ wheels = [
 
 [[package]]
 name = "yarl"
-version = "1.18.3"
+version = "1.19.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "idna" },
     { name = "multidict" },
     { name = "propcache" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/b7/9d/4b94a8e6d2b51b599516a5cb88e5bc99b4d8d4583e468057eaa29d5f0918/yarl-1.18.3.tar.gz", hash = "sha256:ac1801c45cbf77b6c99242eeff4fffb5e4e73a800b5c4ad4fc0be5def634d2e1", size = 181062 }
+sdist = { url = "https://files.pythonhosted.org/packages/fc/4d/8a8f57caccce49573e567744926f88c6ab3ca0b47a257806d1cf88584c5f/yarl-1.19.0.tar.gz", hash = "sha256:01e02bb80ae0dbed44273c304095295106e1d9470460e773268a27d11e594892", size = 184396 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/40/93/282b5f4898d8e8efaf0790ba6d10e2245d2c9f30e199d1a85cae9356098c/yarl-1.18.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:8503ad47387b8ebd39cbbbdf0bf113e17330ffd339ba1144074da24c545f0069", size = 141555 },
-    { url = "https://files.pythonhosted.org/packages/6d/9c/0a49af78df099c283ca3444560f10718fadb8a18dc8b3edf8c7bd9fd7d89/yarl-1.18.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:02ddb6756f8f4517a2d5e99d8b2f272488e18dd0bfbc802f31c16c6c20f22193", size = 94351 },
-    { url = "https://files.pythonhosted.org/packages/5a/a1/205ab51e148fdcedad189ca8dd587794c6f119882437d04c33c01a75dece/yarl-1.18.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:67a283dd2882ac98cc6318384f565bffc751ab564605959df4752d42483ad889", size = 92286 },
-    { url = "https://files.pythonhosted.org/packages/ed/fe/88b690b30f3f59275fb674f5f93ddd4a3ae796c2b62e5bb9ece8a4914b83/yarl-1.18.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d980e0325b6eddc81331d3f4551e2a333999fb176fd153e075c6d1c2530aa8a8", size = 340649 },
-    { url = "https://files.pythonhosted.org/packages/07/eb/3b65499b568e01f36e847cebdc8d7ccb51fff716dbda1ae83c3cbb8ca1c9/yarl-1.18.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b643562c12680b01e17239be267bc306bbc6aac1f34f6444d1bded0c5ce438ca", size = 356623 },
-    { url = "https://files.pythonhosted.org/packages/33/46/f559dc184280b745fc76ec6b1954de2c55595f0ec0a7614238b9ebf69618/yarl-1.18.3-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c017a3b6df3a1bd45b9fa49a0f54005e53fbcad16633870104b66fa1a30a29d8", size = 354007 },
-    { url = "https://files.pythonhosted.org/packages/af/ba/1865d85212351ad160f19fb99808acf23aab9a0f8ff31c8c9f1b4d671fc9/yarl-1.18.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:75674776d96d7b851b6498f17824ba17849d790a44d282929c42dbb77d4f17ae", size = 344145 },
-    { url = "https://files.pythonhosted.org/packages/94/cb/5c3e975d77755d7b3d5193e92056b19d83752ea2da7ab394e22260a7b824/yarl-1.18.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ccaa3a4b521b780a7e771cc336a2dba389a0861592bbce09a476190bb0c8b4b3", size = 336133 },
-    { url = "https://files.pythonhosted.org/packages/19/89/b77d3fd249ab52a5c40859815765d35c91425b6bb82e7427ab2f78f5ff55/yarl-1.18.3-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:2d06d3005e668744e11ed80812e61efd77d70bb7f03e33c1598c301eea20efbb", size = 347967 },
-    { url = "https://files.pythonhosted.org/packages/35/bd/f6b7630ba2cc06c319c3235634c582a6ab014d52311e7d7c22f9518189b5/yarl-1.18.3-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:9d41beda9dc97ca9ab0b9888cb71f7539124bc05df02c0cff6e5acc5a19dcc6e", size = 346397 },
-    { url = "https://files.pythonhosted.org/packages/18/1a/0b4e367d5a72d1f095318344848e93ea70da728118221f84f1bf6c1e39e7/yarl-1.18.3-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:ba23302c0c61a9999784e73809427c9dbedd79f66a13d84ad1b1943802eaaf59", size = 350206 },
-    { url = "https://files.pythonhosted.org/packages/b5/cf/320fff4367341fb77809a2d8d7fe75b5d323a8e1b35710aafe41fdbf327b/yarl-1.18.3-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:6748dbf9bfa5ba1afcc7556b71cda0d7ce5f24768043a02a58846e4a443d808d", size = 362089 },
-    { url = "https://files.pythonhosted.org/packages/57/cf/aadba261d8b920253204085268bad5e8cdd86b50162fcb1b10c10834885a/yarl-1.18.3-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:0b0cad37311123211dc91eadcb322ef4d4a66008d3e1bdc404808992260e1a0e", size = 366267 },
-    { url = "https://files.pythonhosted.org/packages/54/58/fb4cadd81acdee6dafe14abeb258f876e4dd410518099ae9a35c88d8097c/yarl-1.18.3-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:0fb2171a4486bb075316ee754c6d8382ea6eb8b399d4ec62fde2b591f879778a", size = 359141 },
-    { url = "https://files.pythonhosted.org/packages/9a/7a/4c571597589da4cd5c14ed2a0b17ac56ec9ee7ee615013f74653169e702d/yarl-1.18.3-cp311-cp311-win32.whl", hash = "sha256:61b1a825a13bef4a5f10b1885245377d3cd0bf87cba068e1d9a88c2ae36880e1", size = 84402 },
-    { url = "https://files.pythonhosted.org/packages/ae/7b/8600250b3d89b625f1121d897062f629883c2f45339623b69b1747ec65fa/yarl-1.18.3-cp311-cp311-win_amd64.whl", hash = "sha256:b9d60031cf568c627d028239693fd718025719c02c9f55df0a53e587aab951b5", size = 91030 },
-    { url = "https://files.pythonhosted.org/packages/33/85/bd2e2729752ff4c77338e0102914897512e92496375e079ce0150a6dc306/yarl-1.18.3-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:1dd4bdd05407ced96fed3d7f25dbbf88d2ffb045a0db60dbc247f5b3c5c25d50", size = 142644 },
-    { url = "https://files.pythonhosted.org/packages/ff/74/1178322cc0f10288d7eefa6e4a85d8d2e28187ccab13d5b844e8b5d7c88d/yarl-1.18.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:7c33dd1931a95e5d9a772d0ac5e44cac8957eaf58e3c8da8c1414de7dd27c576", size = 94962 },
-    { url = "https://files.pythonhosted.org/packages/be/75/79c6acc0261e2c2ae8a1c41cf12265e91628c8c58ae91f5ff59e29c0787f/yarl-1.18.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:25b411eddcfd56a2f0cd6a384e9f4f7aa3efee14b188de13048c25b5e91f1640", size = 92795 },
-    { url = "https://files.pythonhosted.org/packages/6b/32/927b2d67a412c31199e83fefdce6e645247b4fb164aa1ecb35a0f9eb2058/yarl-1.18.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:436c4fc0a4d66b2badc6c5fc5ef4e47bb10e4fd9bf0c79524ac719a01f3607c2", size = 332368 },
-    { url = "https://files.pythonhosted.org/packages/19/e5/859fca07169d6eceeaa4fde1997c91d8abde4e9a7c018e371640c2da2b71/yarl-1.18.3-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e35ef8683211db69ffe129a25d5634319a677570ab6b2eba4afa860f54eeaf75", size = 342314 },
-    { url = "https://files.pythonhosted.org/packages/08/75/76b63ccd91c9e03ab213ef27ae6add2e3400e77e5cdddf8ed2dbc36e3f21/yarl-1.18.3-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:84b2deecba4a3f1a398df819151eb72d29bfeb3b69abb145a00ddc8d30094512", size = 341987 },
-    { url = "https://files.pythonhosted.org/packages/1a/e1/a097d5755d3ea8479a42856f51d97eeff7a3a7160593332d98f2709b3580/yarl-1.18.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:00e5a1fea0fd4f5bfa7440a47eff01d9822a65b4488f7cff83155a0f31a2ecba", size = 336914 },
-    { url = "https://files.pythonhosted.org/packages/0b/42/e1b4d0e396b7987feceebe565286c27bc085bf07d61a59508cdaf2d45e63/yarl-1.18.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0e883008013c0e4aef84dcfe2a0b172c4d23c2669412cf5b3371003941f72bb", size = 325765 },
-    { url = "https://files.pythonhosted.org/packages/7e/18/03a5834ccc9177f97ca1bbb245b93c13e58e8225276f01eedc4cc98ab820/yarl-1.18.3-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:5a3f356548e34a70b0172d8890006c37be92995f62d95a07b4a42e90fba54272", size = 344444 },
-    { url = "https://files.pythonhosted.org/packages/c8/03/a713633bdde0640b0472aa197b5b86e90fbc4c5bc05b727b714cd8a40e6d/yarl-1.18.3-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:ccd17349166b1bee6e529b4add61727d3f55edb7babbe4069b5764c9587a8cc6", size = 340760 },
-    { url = "https://files.pythonhosted.org/packages/eb/99/f6567e3f3bbad8fd101886ea0276c68ecb86a2b58be0f64077396cd4b95e/yarl-1.18.3-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:b958ddd075ddba5b09bb0be8a6d9906d2ce933aee81100db289badbeb966f54e", size = 346484 },
-    { url = "https://files.pythonhosted.org/packages/8e/a9/84717c896b2fc6cb15bd4eecd64e34a2f0a9fd6669e69170c73a8b46795a/yarl-1.18.3-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:c7d79f7d9aabd6011004e33b22bc13056a3e3fb54794d138af57f5ee9d9032cb", size = 359864 },
-    { url = "https://files.pythonhosted.org/packages/1e/2e/d0f5f1bef7ee93ed17e739ec8dbcb47794af891f7d165fa6014517b48169/yarl-1.18.3-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:4891ed92157e5430874dad17b15eb1fda57627710756c27422200c52d8a4e393", size = 364537 },
-    { url = "https://files.pythonhosted.org/packages/97/8a/568d07c5d4964da5b02621a517532adb8ec5ba181ad1687191fffeda0ab6/yarl-1.18.3-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:ce1af883b94304f493698b00d0f006d56aea98aeb49d75ec7d98cd4a777e9285", size = 357861 },
-    { url = "https://files.pythonhosted.org/packages/7d/e3/924c3f64b6b3077889df9a1ece1ed8947e7b61b0a933f2ec93041990a677/yarl-1.18.3-cp312-cp312-win32.whl", hash = "sha256:f91c4803173928a25e1a55b943c81f55b8872f0018be83e3ad4938adffb77dd2", size = 84097 },
-    { url = "https://files.pythonhosted.org/packages/34/45/0e055320daaabfc169b21ff6174567b2c910c45617b0d79c68d7ab349b02/yarl-1.18.3-cp312-cp312-win_amd64.whl", hash = "sha256:7e2ee16578af3b52ac2f334c3b1f92262f47e02cc6193c598502bd46f5cd1477", size = 90399 },
-    { url = "https://files.pythonhosted.org/packages/f5/4b/a06e0ec3d155924f77835ed2d167ebd3b211a7b0853da1cf8d8414d784ef/yarl-1.18.3-py3-none-any.whl", hash = "sha256:b57f4f58099328dfb26c6a771d09fb20dbbae81d20cfb66141251ea063bd101b", size = 45109 },
+    { url = "https://files.pythonhosted.org/packages/9b/df/5fa7cd75e46306e0f9baf38a7c8969ff6730ea503b86232e85cb740304cf/yarl-1.19.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:163ff326680de5f6d4966954cf9e3fe1bf980f5fee2255e46e89b8cf0f3418b5", size = 145126 },
+    { url = "https://files.pythonhosted.org/packages/2a/be/c1b52129cd2166ab7337f08e701a61baa7c260c7b03b534098cc8297aecc/yarl-1.19.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:a626c4d9cca298d1be8625cff4b17004a9066330ac82d132bbda64a4c17c18d3", size = 96691 },
+    { url = "https://files.pythonhosted.org/packages/8d/39/ad62139b45515f9bf129c805aeaaedf86fd93ae57ffe911f4caeabef3e74/yarl-1.19.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:961c3e401ea7f13d02b8bb7cb0c709152a632a6e14cdc8119e9c6ee5596cd45d", size = 94505 },
+    { url = "https://files.pythonhosted.org/packages/be/be/04e3202cdc9bb5f81761e327af7095cffb0d81e32421a6b87f926052d2ae/yarl-1.19.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a39d7b807ab58e633ed760f80195cbd145b58ba265436af35f9080f1810dfe64", size = 355485 },
+    { url = "https://files.pythonhosted.org/packages/00/7d/1463203663ca1ae62af8fb9ebc9601dd07f04dbced7edb1df3141a2cb2fe/yarl-1.19.0-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:c4228978fb59c6b10f60124ba8e311c26151e176df364e996f3f8ff8b93971b5", size = 344569 },
+    { url = "https://files.pythonhosted.org/packages/b0/1b/5263203017348669e637bb73856fb9632110538e92d5e9f8214fcc764da9/yarl-1.19.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9ba536b17ecf3c74a94239ec1137a3ad3caea8c0e4deb8c8d2ffe847d870a8c5", size = 371426 },
+    { url = "https://files.pythonhosted.org/packages/78/59/90ca5f16d56b7741e5383951acc2e065fce41920eb5d8fda3065b5e288dc/yarl-1.19.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a251e00e445d2e9df7b827c9843c0b87f58a3254aaa3f162fb610747491fe00f", size = 368102 },
+    { url = "https://files.pythonhosted.org/packages/84/f2/5e33aa0251ffd2c2a9041bf887e163eeefdc1dca238fdabac444d9463c3f/yarl-1.19.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f9b92431d8b4d4ca5ccbfdbac95b05a3a6cd70cd73aa62f32f9627acfde7549c", size = 358740 },
+    { url = "https://files.pythonhosted.org/packages/22/9e/ba92d234c81cf94495fc01eaa0b6000175733f76bd63e60ff748bce22c81/yarl-1.19.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ec2f56edaf476f70b5831bbd59700b53d9dd011b1f77cd4846b5ab5c5eafdb3f", size = 346965 },
+    { url = "https://files.pythonhosted.org/packages/8d/0b/d4f53136ef12ddad540855a886d7503a6cc17cfabb9a03ce0c179f3b9e51/yarl-1.19.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:acf9b92c4245ac8b59bc7ec66a38d3dcb8d1f97fac934672529562bb824ecadb", size = 368547 },
+    { url = "https://files.pythonhosted.org/packages/31/4b/35ec8622908a728f378a8511f0ab2d47878b2c0b8cbe035f2d907914a5fc/yarl-1.19.0-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:57711f1465c06fee8825b95c0b83e82991e6d9425f9a042c3c19070a70ac92bf", size = 357610 },
+    { url = "https://files.pythonhosted.org/packages/c1/71/1f39f7c55b0684834d945a2bcfdfe59e6e02ca2483a3d33c2f77a0c3b177/yarl-1.19.0-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:528e86f5b1de0ad8dd758ddef4e0ed24f5d946d4a1cef80ffb2d4fca4e10f122", size = 365331 },
+    { url = "https://files.pythonhosted.org/packages/2e/13/57675964de5c8ccf6427df93ac97f9bb7328f3f8f7ebc31a5f5a286ab1c0/yarl-1.19.0-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:3b77173663e075d9e5a57e09d711e9da2f3266be729ecca0b8ae78190990d260", size = 378624 },
+    { url = "https://files.pythonhosted.org/packages/d4/c6/5868e40f8da041ed0c3b5fd8c08cece849d9f609e970e6043308767fbb60/yarl-1.19.0-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:d8717924cf0a825b62b1a96fc7d28aab7f55a81bf5338b8ef41d7a76ab9223e9", size = 383981 },
+    { url = "https://files.pythonhosted.org/packages/f4/3f/e40124c986d96741d3d341ffac35be42b6df82ef8c18b5984ca2e7d838dd/yarl-1.19.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:0df9f0221a78d858793f40cbea3915c29f969c11366646a92ca47e080a14f881", size = 378868 },
+    { url = "https://files.pythonhosted.org/packages/01/eb/caf2774c770288bd87a818b11f3a56ada6a855f1987d93421aae01a175bf/yarl-1.19.0-cp311-cp311-win32.whl", hash = "sha256:8b3ade62678ee2c7c10dcd6be19045135e9badad53108f7d2ed14896ee396045", size = 86446 },
+    { url = "https://files.pythonhosted.org/packages/4a/97/d4fe6168c1bb789507ffeb58c2e8c675a7e71de732dc02e12bda904c1362/yarl-1.19.0-cp311-cp311-win_amd64.whl", hash = "sha256:0626ee31edb23ac36bdffe607231de2cca055ad3a5e2dc5da587ef8bc6a321bc", size = 93121 },
+    { url = "https://files.pythonhosted.org/packages/b8/70/44ef8f69d61cb5123167a4dda87f6c739a833fbdb2ed52960b4e8409d65c/yarl-1.19.0-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:7b687c334da3ff8eab848c9620c47a253d005e78335e9ce0d6868ed7e8fd170b", size = 146855 },
+    { url = "https://files.pythonhosted.org/packages/c3/94/38c14d6c8217cc818647689f2dd647b976ced8fea08d0ac84e3c8168252b/yarl-1.19.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:b0fe766febcf523a2930b819c87bb92407ae1368662c1bc267234e79b20ff894", size = 97523 },
+    { url = "https://files.pythonhosted.org/packages/35/a5/43a613586a6255105c4655a911c307ef3420e49e540d6ae2c5829863fb25/yarl-1.19.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:742ceffd3c7beeb2b20d47cdb92c513eef83c9ef88c46829f88d5b06be6734ee", size = 95540 },
+    { url = "https://files.pythonhosted.org/packages/d4/60/ed26049f4a8b06ebfa6d5f3cb6a51b152fd57081aa818b6497474f65a631/yarl-1.19.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2af682a1e97437382ee0791eacbf540318bd487a942e068e7e0a6c571fadbbd3", size = 344386 },
+    { url = "https://files.pythonhosted.org/packages/49/a6/b84899cab411f49af5986cfb44b514040788d81c8084f5811e6a7c0f1ce6/yarl-1.19.0-cp312-cp312-manylinux_2_17_armv7l.manylinux2014_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:63702f1a098d0eaaea755e9c9d63172be1acb9e2d4aeb28b187092bcc9ca2d17", size = 338889 },
+    { url = "https://files.pythonhosted.org/packages/cc/ce/0704f7166a781b1f81bdd45c4f49eadbae0230ebd35b9ec7cd7769d3a6ff/yarl-1.19.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3560dcba3c71ae7382975dc1e912ee76e50b4cd7c34b454ed620d55464f11876", size = 353107 },
+    { url = "https://files.pythonhosted.org/packages/75/e5/0ecd6f2a9cc4264c16d8dfb0d3d71ba8d03cb58f3bcd42b1df4358331189/yarl-1.19.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:68972df6a0cc47c8abaf77525a76ee5c5f6ea9bbdb79b9565b3234ded3c5e675", size = 353128 },
+    { url = "https://files.pythonhosted.org/packages/ad/c7/cd0fd1de581f1c2e8f996e704c9fd979e00106f18eebd91b0173cf1a13c6/yarl-1.19.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5684e7ff93ea74e47542232bd132f608df4d449f8968fde6b05aaf9e08a140f9", size = 349107 },
+    { url = "https://files.pythonhosted.org/packages/e6/34/ba3e5a20bd1d6a09034fc7985aaf1309976f2a7a5aefd093c9e56f6e1e0c/yarl-1.19.0-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8182ad422bfacdebd4759ce3adc6055c0c79d4740aea1104e05652a81cd868c6", size = 335144 },
+    { url = "https://files.pythonhosted.org/packages/1e/98/d9b7beb932fade015906efe0980aa7d522b8f93cf5ebf1082e74faa314b7/yarl-1.19.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:aee5b90a5a9b71ac57400a7bdd0feaa27c51e8f961decc8d412e720a004a1791", size = 360795 },
+    { url = "https://files.pythonhosted.org/packages/9a/11/70b8770039cc54af5948970591517a1e1d093df3f04f328c655c9a0fefb7/yarl-1.19.0-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:8c0b2371858d5a814b08542d5d548adb03ff2d7ab32f23160e54e92250961a72", size = 360140 },
+    { url = "https://files.pythonhosted.org/packages/d4/67/708e3e36fafc4d9d96b4eecc6c8b9f37c8ad50df8a16c7a1d5ba9df53050/yarl-1.19.0-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:cd430c2b7df4ae92498da09e9b12cad5bdbb140d22d138f9e507de1aa3edfea3", size = 364431 },
+    { url = "https://files.pythonhosted.org/packages/c3/8b/937fbbcc895553a7e16fcd86ae4e0724c6ac9468237ad8e7c29cc3b1c9d9/yarl-1.19.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:a93208282c0ccdf73065fd76c6c129bd428dba5ff65d338ae7d2ab27169861a0", size = 373832 },
+    { url = "https://files.pythonhosted.org/packages/f8/ca/288ddc2230c9b6647fe907504f1119adb41252ac533eb564d3fc73511215/yarl-1.19.0-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:b8179280cdeb4c36eb18d6534a328f9d40da60d2b96ac4a295c5f93e2799e9d9", size = 378122 },
+    { url = "https://files.pythonhosted.org/packages/4f/5a/79e1ef31d14968fbfc0ecec70a6683b574890d9c7550c376dd6d40de7754/yarl-1.19.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:eda3c2b42dc0c389b7cfda2c4df81c12eeb552019e0de28bde8f913fc3d1fcf3", size = 375178 },
+    { url = "https://files.pythonhosted.org/packages/95/38/9b0e56bf14026c3f550ad6425679f6d1a2f4821d70767f39d6f4c56a0820/yarl-1.19.0-cp312-cp312-win32.whl", hash = "sha256:57f3fed859af367b9ca316ecc05ce79ce327d6466342734305aa5cc380e4d8be", size = 86172 },
+    { url = "https://files.pythonhosted.org/packages/b3/96/5c2f3987c4bb4e5cdebea3caf99a45946b13a9516f849c02222203d99860/yarl-1.19.0-cp312-cp312-win_amd64.whl", hash = "sha256:5507c1f7dd3d41251b67eecba331c8b2157cfd324849879bebf74676ce76aff7", size = 92617 },
+    { url = "https://files.pythonhosted.org/packages/a4/06/ae25a353e8f032322df6f30d6bb1fc329773ee48e1a80a2196ccb8d1206b/yarl-1.19.0-py3-none-any.whl", hash = "sha256:a727101eb27f66727576630d02985d8a065d09cd0b5fcbe38a5793f71b2a97ef", size = 45990 },
 ]
 
 [[package]]

From d1caf29f7da0f129ad0cfff4e27967298597bcb7 Mon Sep 17 00:00:00 2001
From: programanichiro <99449198+programanichiro@users.noreply.github.com>
Date: Tue, 8 Apr 2025 02:55:35 +0900
Subject: [PATCH 11/91] Multilang: Update ja translation (#34986)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* 日本語訳2025/3/19

* numerusform追加。

* connect to an unmetered networkに対応

* panda是正

* opendbc_repo是正
---
 selfdrive/ui/translations/main_ja.ts | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index ef504a0855..da99fdd6e7 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -339,7 +339,7 @@ Firehoseモードを有効にすると、学習データを最大限アップロ
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;動作停止&lt;/span&gt;: 大容量のネットワークに接続してください</translation>
     </message>
 </context>
 <context>

From 9f1a4569d1be03454035747215efc445b2d55957 Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Tue, 8 Apr 2025 01:55:52 +0800
Subject: [PATCH 12/91] Multilang: Update zh translation (#34985)

---
 selfdrive/ui/translations/main_zh-CHS.ts | 4 ++--
 selfdrive/ui/translations/main_zh-CHT.ts | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index cbdfeb3988..963946e4da 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -121,7 +121,7 @@
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>纵向机动模式</translation>
+        <translation>纵向操控测试模式</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
@@ -339,7 +339,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;闲置&lt;/span&gt;：请连接到不限流量的网络</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index d023524aea..1946493247 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -121,7 +121,7 @@
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation>縱向機動模式</translation>
+        <translation>縱向操控測試模式</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
@@ -339,7 +339,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;閒置中&lt;/span&gt;：請連接到不按流量計費的網絡</translation>
     </message>
 </context>
 <context>

From cdc801c3c1c74cb819cb3a6abef233aad4a0a1d7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 7 Apr 2025 11:51:53 -0700
Subject: [PATCH 13/91] update to latest userdata partition (#34990)

update
---
 system/hardware/tici/all-partitions.json | 26 ++++++++++++------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 643b1b2a26..4e24b229d4 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -366,35 +366,35 @@
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-344c1f5da1ece113e0f07c1964a95646dbfe96f49cfd64ac7375430c9247ab33.img.xz",
-    "hash": "f94d635a74d1b7a7a6774f7673be0672219f253025406d0b2595ff3ef41b68f8",
-    "hash_raw": "344c1f5da1ece113e0f07c1964a95646dbfe96f49cfd64ac7375430c9247ab33",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108.img.xz",
+    "hash": "ff01a0ca5a2ea6661f836248043a211cd8d71c3269c139cb574b56855fabc3f4",
+    "hash_raw": "175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "96e376ed61e8604adce6fea4b3a7302b966c1975f768f66e4a81428dce7e78f0"
+    "ondevice_hash": "2f3d69e5015a45a18c3553f2edc5706aacd6d84a4b3d5010a3d76a1a3aa910b0"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-a2840d1aeac1b2229a82d91be1b1546b3ec294cb185b6ad5ca502848d1c9c8fb.img.xz",
-    "hash": "d86482e90ac0e08e31d0b699b6728043dc3db2ab0feaec99a6a393085824424a",
-    "hash_raw": "a2840d1aeac1b2229a82d91be1b1546b3ec294cb185b6ad5ca502848d1c9c8fb",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b.img.xz",
+    "hash": "714970777e02bb53a71640735bdb84b3071ecbc0346b978ce12eb667d75634ec",
+    "hash_raw": "61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "b6754cf40297e4a924315aa81d062ea108b86c93e6ad3c3c98559863a297e2b1"
+    "ondevice_hash": "95e6889a808b8d266660990e67e917cf3b63179f23588565af7f2fa54f70ac76"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-1f4a795d4c7d052e94326e668be84929856fa2945ddbdf097e1ee722defeabd1.img.xz",
-    "hash": "2df53cb6d115bcb58998a7346e53030ae89683c215f1c28aaa1b524cb145ac65",
-    "hash_raw": "1f4a795d4c7d052e94326e668be84929856fa2945ddbdf097e1ee722defeabd1",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz",
+    "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2",
+    "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "585e9a650d53be65600589ce0b6c71edf8e6678f65d16dc6ac2dd75f900bc6cc"
+    "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e"
   }
-]
\ No newline at end of file
+]

From fc65a8ea8f9f374343cd3eb8c59fc955b75b013a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Mon, 7 Apr 2025 19:23:11 -0700
Subject: [PATCH 14/91] paramsd: cache backwards compatibility (#34991)

* LiveParametersV2 key

* Param key

* Fix tests

* Remove old params if error

* Update exception message

* Update the test

* Add test for corrupted byte format in v1

* Rename params_reader => params
---
 common/params_keys.h                     |  1 +
 selfdrive/locationd/paramsd.py           | 32 +++++++++++++-----------
 selfdrive/locationd/test/test_paramsd.py | 13 +++++++++-
 3 files changed, 30 insertions(+), 16 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index 2b540b744c..fd701cda18 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -72,6 +72,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
     {"LiveParameters", PERSISTENT},
+    {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 243abc5c08..a7712ba1d9 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
 
 
 # TODO: Remove this function after few releases (added in 0.9.9)
-def migrate_cached_vehicle_params_if_needed(params_reader: Params):
-  last_parameters_data = params_reader.get("LiveParameters")
-  if last_parameters_data is None:
+def migrate_cached_vehicle_params_if_needed(params: Params):
+  last_parameters_data_old = params.get("LiveParameters")
+  last_parameters_data = params.get("LiveParametersV2")
+  if last_parameters_data_old is None or last_parameters_data is not None:
     return
 
   try:
-    last_parameters_dict = json.loads(last_parameters_data)
+    last_parameters_dict = json.loads(last_parameters_data_old)
     last_parameters_msg = messaging.new_message('liveParameters')
     last_parameters_msg.liveParameters.valid = True
     last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
     last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
     last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
-    params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
-  except Exception:
-    pass
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
+  except Exception as e:
+    cloudlog.error(f"Failed to perform parameter migration: {e}")
+    params.remove("LiveParameters")
 
 
-def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
-  last_parameters_data = params_reader.get("LiveParameters")
-  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
+  last_parameters_data = params.get("LiveParametersV2")
+  last_carparams_data = params.get("CarParamsPrevRoute")
 
   steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
 
@@ -267,12 +269,12 @@ def main():
   pm = messaging.PubMaster(['liveParameters'])
   sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
 
-  params_reader = Params()
-  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+  params = Params()
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  migrate_cached_vehicle_params_if_needed(params_reader)
+  migrate_cached_vehicle_params_if_needed(params)
 
-  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
+  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
   while True:
@@ -288,7 +290,7 @@ def main():
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params_reader.put_nonblocking("LiveParameters", msg_dat)
+        params.put_nonblocking("LiveParametersV2", msg_dat)
 
       pm.send('liveParameters', msg_dat)
 
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
index 3c2bf9249a..2129bf4386 100644
--- a/selfdrive/locationd/test/test_paramsd.py
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -28,7 +28,7 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
@@ -49,9 +49,20 @@ class TestParamsd:
     msg = get_random_live_parameters(CP)
     params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
     sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
     np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
     np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
     np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+    assert params.get("LiveParametersV2") is not None
+
+  def test_read_saved_params_corrupted_old_format(self):
+    params = Params()
+    params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
+    params.remove("LiveParametersV2")
+
+    migrate_cached_vehicle_params_if_needed(params)
+    assert params.get("LiveParameters") is None
+    assert params.get("LiveParametersV2") is None

From e4aa346259d9be4713c0d6b7bcd49ac88c277c1f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 8 Apr 2025 10:57:29 -0700
Subject: [PATCH 15/91] hardwared: give stuck LTE connections a kick

This reverts commit e3e694096a3a79e663712797e559e729e6818c7c.
---
 system/hardware/hardwared.py | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index b6de91818e..7429091336 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -99,6 +99,7 @@ def touch_thread(end_event):
 def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
   count = 0
+  registered_count = 0
   prev_hw_state = None
 
   modem_version = None
@@ -149,6 +150,16 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
+        if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"):
+          registered_count += 1
+        else:
+          registered_count = 0
+
+        if registered_count > 10:
+          cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}, bringing connection back up")
+          os.system("nmcli conn up esim")
+          registered_count = 0
+
         if not modem_configured and HARDWARE.get_modem_version() is not None:
           cloudlog.warning("configuring modem")
           HARDWARE.configure_modem()

From 84b0baf68b1fc65924c705cd9c3fc301b3030629 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 8 Apr 2025 11:04:00 -0700
Subject: [PATCH 16/91] Revert "hardwared: give stuck LTE connections a kick"

This reverts commit e4aa346259d9be4713c0d6b7bcd49ac88c277c1f.
---
 system/hardware/hardwared.py | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 7429091336..b6de91818e 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -99,7 +99,6 @@ def touch_thread(end_event):
 def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
   count = 0
-  registered_count = 0
   prev_hw_state = None
 
   modem_version = None
@@ -150,16 +149,6 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"):
-          registered_count += 1
-        else:
-          registered_count = 0
-
-        if registered_count > 10:
-          cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}, bringing connection back up")
-          os.system("nmcli conn up esim")
-          registered_count = 0
-
         if not modem_configured and HARDWARE.get_modem_version() is not None:
           cloudlog.warning("configuring modem")
           HARDWARE.configure_modem()

From 0b72ae3bc2e11290d95e6f2d9e8fac683e9b0a85 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 8 Apr 2025 20:12:52 -0700
Subject: [PATCH 17/91] process_replay: fix GM and replace TOYOTA3 (#34996)

* Add volt and bolt param migration

* Remove mazda due to invalid sensor timings

* Fix the import

* Add mazda to excluded

* Bring back mazda, but add todo

* New segment for TOYOTA3

* Fix

* Update ref commit
---
 selfdrive/test/process_replay/migration.py      | 3 +++
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 7 ++++---
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index e1d0352262..39d5452b6b 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -9,6 +9,7 @@ from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
 from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
 from opendbc.car.hyundai.values import HyundaiSafetyFlags
+from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -274,6 +275,8 @@ def migrate_pandaStates(msgs):
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
     "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "CHEVROLET_VOLT": GMSafetyFlags.EV,
+    "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
   # TODO: get new Ford route
   safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 58ff170e74..d4b02296d6 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-887623a18d82088dc5ed9ecdced55eb0d3f718b1
\ No newline at end of file
+37fd7afb99bf188c1e5375d01f011ae35821f640
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 927f54c0c3..dfa7eb65a8 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -22,7 +22,7 @@ source_segments = [
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.TOYOTA_RAV4
-  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
+  ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.HONDA_CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.HONDA_ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
@@ -32,6 +32,7 @@ source_segments = [
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
+  # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
   ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
@@ -46,7 +47,7 @@ segments = [
   ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
   ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
   ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
-  ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
+  ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"),
   ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
   ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
   ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
@@ -62,7 +63,7 @@ segments = [
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla", "rivian"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")

From 4c7d29b907b215a7d50c2be209047726ea0ae4e9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 8 Apr 2025 21:08:04 -0700
Subject: [PATCH 18/91] bump opendbc

---
 docs/CARS.md | 242 ++++++++++++++++++++++++++-------------------------
 opendbc_repo |   2 +-
 2 files changed, 123 insertions(+), 121 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 648c2cb9d8..1af8974f30 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -11,12 +11,12 @@ 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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>1,13</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 (9.5 ft)<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>1,13</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 (9.5 ft)<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>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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>1,15</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 (9.5 ft)<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>1,15</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 (9.5 ft)<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>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -54,20 +54,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G70 2022-23|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 L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|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 C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2022-23[<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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim, without HDA II) 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 L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<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 M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (with HDA II) 2023-24[<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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<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 M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>6</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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</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 L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</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 M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</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 M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<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=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -96,10 +96,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe 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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|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 H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -110,11 +110,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea 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 R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</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 R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Nexo 2021|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 H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|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 L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|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 L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -122,36 +122,36 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>6</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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023-24[<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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023-24[<sup>6</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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Tucson Plug-in Hybrid 2024[<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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>6</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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</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 N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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)|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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-24[<sup>6</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-24[<sup>6</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</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 Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|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 H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|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 F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|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 C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 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 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023-24[<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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
+|Kia|Niro EV 2023-24[<sup>6</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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
@@ -162,11 +162,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>6</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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</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 A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@@ -193,42 +193,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW3) 2019-23[<sup>8</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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW4) 2024-25[<sup>8</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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW3) 2020-23[<sup>8</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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW4) 2024[<sup>8</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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW3) 2019-23[<sup>10</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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
+|Tesla|Model 3 (with HW4) 2024-25[<sup>10</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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
+|Tesla|Model Y (with HW3) 2020-23[<sup>10</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 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
+|Tesla|Model Y (with HW4) 2024[<sup>10</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 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -241,8 +241,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -274,58 +274,60 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 2023-25|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=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>1,13</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 (9.5 ft)<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>1,13</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 (9.5 ft)<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>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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 R 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>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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 Shooting Brake 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>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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 (9.5 ft)<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=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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 (9.5 ft)<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=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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 (9.5 ft)<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=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Jetta 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Jetta GLI 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 (9.5 ft)<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=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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>1,15</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 (9.5 ft)<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>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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 R 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>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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 Shooting Brake 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>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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 (9.5 ft)<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=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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 (9.5 ft)<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=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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 (9.5 ft)<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=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Jetta 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Jetta GLI 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</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 (9.5 ft)<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=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/opendbc_repo b/opendbc_repo
index 4179672dae..81820502a0 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 4179672dae72e29b8ff9072d9be154515312e350
+Subproject commit 81820502a038b64e97caae81377ac65a3b86703e

From 2cd0079abef0f654541dfc894e97b02829163577 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 8 Apr 2025 21:11:24 -0700
Subject: [PATCH 19/91] test_models: update relay malfunction check (#34999)

relay is checked in fwd hook
---
 opendbc_repo                       | 2 +-
 selfdrive/car/tests/test_models.py | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 81820502a0..5a24ffee45 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 81820502a038b64e97caae81377ac65a3b86703e
+Subproject commit 5a24ffee4549b857837df03a7faaf5f31236f787
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 906fa99320..fa266328f6 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -240,6 +240,7 @@ class TestCarModelBase(unittest.TestCase):
           continue
 
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
+        self.safety.safety_fwd_hook(msg.src, msg.address)
         if self.safety.safety_rx_hook(to_send) != 1:
           failed_addrs[hex(msg.address)] += 1
 

From dec42839e38db9f09372a3ee4999d791beded1c9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 8 Apr 2025 21:13:02 -0700
Subject: [PATCH 20/91] process_replay: remove GM (volt) (#35000)

Remove volt segment
---
 selfdrive/test/process_replay/test_processes.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index dfa7eb65a8..bb30ab2acd 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -28,8 +28,7 @@ source_segments = [
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
   ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500_5TH_GEN
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.SUBARU_OUTBACK
-  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.CHEVROLET_VOLT
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
+  ("GM", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
   # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced
@@ -53,8 +52,7 @@ segments = [
   ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
   ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
   ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
-  ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
-  ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
+  ("GM", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
   ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
   ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),

From 5d1816e2b8e783405458b2368770138030ef1baf Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 8 Apr 2025 21:27:05 -0700
Subject: [PATCH 21/91] Revert "test_models: update relay malfunction check"
 (#35002)

Revert "test_models: update relay malfunction check (#34999)"

This reverts commit 2cd0079abef0f654541dfc894e97b02829163577.
---
 opendbc_repo                       | 2 +-
 selfdrive/car/tests/test_models.py | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 5a24ffee45..81820502a0 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 5a24ffee4549b857837df03a7faaf5f31236f787
+Subproject commit 81820502a038b64e97caae81377ac65a3b86703e
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index fa266328f6..906fa99320 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -240,7 +240,6 @@ class TestCarModelBase(unittest.TestCase):
           continue
 
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
-        self.safety.safety_fwd_hook(msg.src, msg.address)
         if self.safety.safety_rx_hook(to_send) != 1:
           failed_addrs[hex(msg.address)] += 1
 

From f237649a7a281da851187eb3471a2c91f98974fd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 9 Apr 2025 15:31:07 -0700
Subject: [PATCH 22/91] Reapply "Online lateral lag learning" (#34975)

* Online lateral lag learning (#34974)

This reverts commit b4cc9e68d126c2219a7ddf33519e222fe8bfe00d.

* pad to the best size for fft

* Fix static analysis

* Add typing

* Fix typing

* MAX_LAG

* Calculate cross correlation regardless if the points are valid

* Back to lagd

* Add lagd to process_config

* Lagd in test onroad

* Move lag estimator for lagd

* Remove duplicate entry from test_onroad

* Update process replay

* pre-fill the data

* Update cpu usage

* 25sec window

* Change the meaning of lateralDelayEstimate

* No newline

* Fix typing

* Prefill

* Update ref commit

* Add a unit test

* Fix static issues

* Time limit

* Or timeout

* Use mocker

* Update estimate every time

* empty test

* DT const

* enable RIVIAN again

* Update ref commit

* Update that again

* Improve the tests

* Fix static

* Add masking test

* Increase timeout

* Add liveDelay to selfdrived

* Add liveDelay to selfdrived in process_replay

* Fix block_avg restore after num_blocks

* regen most

* Update bolt

* Update ref commit

* Change the key name

* Add assert

* True weighted average
---
 cereal/services.py                            |   1 +
 common/params_keys.h                          |   1 +
 selfdrive/locationd/helpers.py                |  38 ++
 selfdrive/locationd/lagd.py                   | 333 ++++++++++++++++++
 selfdrive/locationd/test/test_lagd.py         | 137 +++++++
 selfdrive/selfdrived/selfdrived.py            |   2 +-
 .../test/process_replay/process_replay.py     |  11 +-
 selfdrive/test/process_replay/ref_commit      |   2 +-
 .../test/process_replay/test_processes.py     |  34 +-
 selfdrive/test/test_onroad.py                 |   3 +-
 system/manager/process_config.py              |   1 +
 11 files changed, 542 insertions(+), 21 deletions(-)
 create mode 100755 selfdrive/locationd/lagd.py
 create mode 100644 selfdrive/locationd/test/test_lagd.py

diff --git a/cereal/services.py b/cereal/services.py
index aad83177bb..82fc04bd00 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
diff --git a/common/params_keys.h b/common/params_keys.h
index fd701cda18..e630792357 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -71,6 +71,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
+    {"LiveDelay", PERSISTENT},
     {"LiveParameters", PERSISTENT},
     {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index af307b0336..a3e3ae4a8c 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -1,10 +1,48 @@
 import numpy as np
 from typing import Any
+from functools import cache
 
 from cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
+@cache
+def fft_next_good_size(n: int) -> int:
+    """
+    smallest composite of 2, 3, 5, 7, 11 that is >= n
+    inspired by pocketfft
+    """
+    if n <= 6:
+      return n
+    best, f2 = 2 * n, 1
+    while f2 < best:
+        f23 = f2
+        while f23 < best:
+            f235 = f23
+            while f235 < best:
+                f2357 = f235
+                while f2357 < best:
+                    f235711 = f2357
+                    while f235711 < best:
+                        best = f235711 if f235711 >= n else best
+                        f235711 *= 11
+                    f2357 *= 7
+                f235 *= 5
+            f23 *= 3
+        f2 *= 2
+    return best
+
+
+def parabolic_peak_interp(R, max_index):
+  if max_index == 0 or max_index == len(R) - 1:
+    return max_index
+
+  y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1]
+  offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1)
+
+  return max_index + offset
+
+
 def rotate_cov(rot_matrix, cov_in):
   return rot_matrix @ cov_in @ rot_matrix.T
 
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
new file mode 100755
index 0000000000..5ce82309ea
--- /dev/null
+++ b/selfdrive/locationd/lagd.py
@@ -0,0 +1,333 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+import capnp
+from collections import deque
+from functools import partial
+
+import cereal.messaging as messaging
+from cereal import car, log
+from cereal.services import SERVICE_LIST
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+
+BLOCK_SIZE = 100
+BLOCK_NUM = 50
+BLOCK_NUM_NEEDED = 5
+MOVING_WINDOW_SEC = 300.0
+MIN_OKAY_WINDOW_SEC = 25.0
+MIN_RECOVERY_BUFFER_SEC = 2.0
+MIN_VEGO = 15.0
+MIN_ABS_YAW_RATE = np.radians(1.0)
+MIN_NCC = 0.95
+MAX_LAG = 1.0
+
+
+def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
+  """
+  References:
+    D. Padfield. "Masked FFT registration". In Proc. Computer Vision and
+    Pattern Recognition, pp. 2918-2925 (2010).
+    :DOI:`10.1109/CVPR.2010.5540032`
+  """
+
+  eps = np.finfo(np.float64).eps
+  expected_sig = np.asarray(expected_sig, dtype=np.float64)
+  actual_sig = np.asarray(actual_sig, dtype=np.float64)
+
+  expected_sig[~mask] = 0.0
+  actual_sig[~mask] = 0.0
+
+  rotated_expected_sig = expected_sig[::-1]
+  rotated_mask = mask[::-1]
+
+  fft = partial(np.fft.fft, n=n)
+
+  actual_sig_fft = fft(actual_sig)
+  rotated_expected_sig_fft = fft(rotated_expected_sig)
+  actual_mask_fft = fft(mask.astype(np.float64))
+  rotated_mask_fft = fft(rotated_mask.astype(np.float64))
+
+  number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real
+  number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples)
+  number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps)
+  masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real
+  masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real
+
+  numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real
+  numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples
+
+  actual_squared_fft = fft(actual_sig ** 2)
+  actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real
+  actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples
+  actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0)
+
+  rotated_expected_squared_fft = fft(rotated_expected_sig ** 2)
+  expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real
+  expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples
+  expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0)
+
+  denom = np.sqrt(actual_sig_denom * expected_sig_denom)
+
+  # zero-out samples with very small denominators
+  tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True)
+  nonzero_indices = denom > tol
+
+  ncc = np.zeros_like(denom, dtype=np.float64)
+  ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices]
+  np.clip(ncc, -1, 1, out=ncc)
+
+  return ncc
+
+
+class Points:
+  def __init__(self, num_points: int):
+    self.times = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.okay = deque[bool]([False] * num_points, maxlen=num_points)
+    self.desired = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.actual = deque[float]([0.0] * num_points, maxlen=num_points)
+
+  @property
+  def num_points(self):
+    return len(self.desired)
+
+  @property
+  def num_okay(self):
+    return np.count_nonzero(self.okay)
+
+  def update(self, t: float, desired: float, actual: float, okay: bool):
+    self.times.append(t)
+    self.okay.append(okay)
+    self.desired.append(desired)
+    self.actual.append(actual)
+
+  def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+    return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay)
+
+
+class BlockAverage:
+  def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float):
+    self.num_blocks = num_blocks
+    self.block_size = block_size
+    self.block_idx = valid_blocks % num_blocks
+    self.idx = 0
+
+    self.values = np.tile(initial_value, (num_blocks, 1))
+    self.valid_blocks = valid_blocks
+
+  def update(self, value: float):
+    self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1)
+    self.idx = (self.idx + 1) % self.block_size
+    if self.idx == 0:
+      self.block_idx = (self.block_idx + 1) % self.num_blocks
+      self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)
+
+  def get(self) -> tuple[float, float]:
+    valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
+    valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
+
+    valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) if len(valid_block_idx) > 0 else float('nan')
+    current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) if len(valid_and_current_idx) > 0 else float('nan')
+    return valid_mean, current_mean
+
+
+class LateralLagEstimator:
+  inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
+
+  def __init__(self, CP: car.CarParams, dt: float,
+               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
+               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
+               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC):
+    self.dt = dt
+    self.window_sec = window_sec
+    self.okay_window_sec = okay_window_sec
+    self.min_recovery_buffer_sec = min_recovery_buffer_sec
+    self.initial_lag = CP.steerActuatorDelay + 0.2
+    self.block_size = block_size
+    self.block_count = block_count
+    self.min_valid_block_count = min_valid_block_count
+    self.min_vego = min_vego
+    self.min_yr = min_yr
+    self.min_ncc = min_ncc
+
+    self.t = 0.0
+    self.lat_active = False
+    self.steering_pressed = False
+    self.steering_saturated = False
+    self.desired_curvature = 0.0
+    self.v_ego = 0.0
+    self.yaw_rate = 0.0
+
+    self.last_lat_inactive_t = 0.0
+    self.last_steering_pressed_t = 0.0
+    self.last_steering_saturated_t = 0.0
+    self.last_estimate_t = 0.0
+
+    self.calibrator = PoseCalibrator()
+
+    self.reset(self.initial_lag, 0)
+
+  def reset(self, initial_lag: float, valid_blocks: int):
+    window_len = int(self.window_sec / self.dt)
+    self.points = Points(window_len)
+    self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
+
+  def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
+    msg = messaging.new_message('liveDelay')
+
+    msg.valid = valid
+
+    liveDelay = msg.liveDelay
+
+    valid_mean_lag, current_mean_lag = self.block_avg.get()
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag):
+      liveDelay.status = log.LiveDelayData.Status.estimated
+      liveDelay.lateralDelay = valid_mean_lag
+    else:
+      liveDelay.status = log.LiveDelayData.Status.unestimated
+      liveDelay.lateralDelay = self.initial_lag
+    if not np.isnan(current_mean_lag):
+      liveDelay.lateralDelayEstimate = current_mean_lag
+    else:
+      liveDelay.lateralDelayEstimate = self.initial_lag
+    liveDelay.validBlocks = self.block_avg.valid_blocks
+    if debug:
+      liveDelay.points = self.block_avg.values.flatten().tolist()
+
+    return msg
+
+  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
+    if which == "carControl":
+      self.lat_active = msg.latActive
+    elif which == "carState":
+      self.steering_pressed = msg.steeringPressed
+      self.v_ego = msg.vEgo
+    elif which == "controlsState":
+      self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
+      self.desired_curvature = msg.desiredCurvature
+    elif which == "liveCalibration":
+      self.calibrator.feed_live_calib(msg)
+    elif which == "livePose":
+      device_pose = Pose.from_live_pose(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+      self.yaw_rate = calibrated_pose.angular_velocity.z
+    self.t = t
+
+  def points_enough(self):
+    return self.points.num_points >= int(self.okay_window_sec / self.dt)
+
+  def points_valid(self):
+    return self.points.num_okay >= int(self.okay_window_sec / self.dt)
+
+  def update_points(self):
+    if not self.lat_active:
+      self.last_lat_inactive_t = self.t
+    if self.steering_pressed:
+      self.last_steering_pressed_t = self.t
+    if self.steering_saturated:
+      self.last_steering_saturated_t = self.t
+
+    la_desired = self.desired_curvature * self.v_ego * self.v_ego
+    la_actual_pose = self.yaw_rate * self.v_ego
+
+    fast = self.v_ego > self.min_vego
+    turning = np.abs(self.yaw_rate) >= self.min_yr
+    has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated
+      self.t - last_t >= self.min_recovery_buffer_sec
+      for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t]
+    )
+    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered
+
+    self.points.update(self.t, la_desired, la_actual_pose, okay)
+
+  def update_estimate(self):
+    if not self.points_enough():
+      return
+
+    times, desired, actual, okay = self.points.get()
+    # check if there are any new valid data points since the last update
+    is_valid = self.points_valid()
+    if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
+      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
+      is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))
+
+    delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
+    if corr < self.min_ncc or not is_valid:
+      return
+
+    self.block_avg.update(delay)
+    self.last_estimate_t = self.t
+
+  def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]:
+    assert len(expected_sig) == len(actual_sig)
+    max_lag_samples = int(max_lag / dt)
+    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+
+    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
+
+    # only consider lags from 0 to max_lag
+    roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
+
+    max_corr_index = np.argmax(roi_ncc)
+    corr = roi_ncc[max_corr_index]
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+
+    return lag, corr
+
+
+def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
+  last_lag_data = params_reader.get("LiveDelay")
+  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+
+  if last_lag_data is not None:
+    try:
+      with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
+        ld = last_lag_msg.liveDelay
+        if last_CP.carFingerprint != CP.carFingerprint:
+          raise Exception("Car model mismatch")
+
+        lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks
+        assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
+        return lag, valid_blocks
+    except Exception as e:
+      cloudlog.error(f"Failed to retrieve initial lag: {e}")
+
+  return None
+
+
+def main():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+
+  pm = messaging.PubMaster(['liveDelay'])
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
+
+  params_reader = Params()
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
+  if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None:
+    lag, valid_blocks = initial_lag_params
+    lag_learner.reset(lag, valid_blocks)
+
+  while True:
+    sm.update()
+    if sm.all_checks():
+      for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
+        if sm.updated[which]:
+          t = sm.logMonoTime[which] * 1e-9
+          lag_learner.handle_log(t, which, sm[which])
+      lag_learner.update_points()
+
+    # 4Hz driven by livePose
+    if sm.frame % 5 == 0:
+      lag_learner.update_estimate()
+      lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
+      lag_msg_dat = lag_msg.to_bytes()
+      pm.send('liveDelay', lag_msg_dat)
+
+      if sm.frame % 1200 == 0: # cache every 60 seconds
+        params_reader.put_nonblocking("LiveDelay", lag_msg_dat)
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
new file mode 100644
index 0000000000..53af2d2573
--- /dev/null
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -0,0 +1,137 @@
+import random
+import numpy as np
+import time
+import pytest
+
+from cereal import messaging
+from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware import PC
+
+MAX_ERR_FRAMES = 1
+DT = 0.05
+
+
+def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
+  class ZeroMock(mocker.Mock):
+    def __getattr__(self, *args):
+      return 0
+
+  for i in range(n_frames):
+    t = i * estimator.dt
+    desired_la = np.cos(t)
+    actual_la = np.cos(t - lag_frames * estimator.dt)
+
+    # if sample is masked out, set it to desired value (no lag)
+    rejected = random.uniform(0, 1) < rejection_threshold
+    if rejected:
+      actual_la = desired_la
+
+    desired_cuvature = desired_la / (vego ** 2)
+    actual_yr = actual_la / vego
+    msgs = [
+      (t, "carControl", mocker.Mock(latActive=not rejected)),
+      (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature,
+                                        lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))),
+      (t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
+                                velocityDevice=ZeroMock(),
+                                accelerationDevice=ZeroMock(),
+                                angularVelocityDevice=ZeroMock(z=actual_yr))),
+    ]
+    for t, w, m in msgs:
+      estimator.handle_log(t, w, m)
+    estimator.update_points()
+    estimator.update_estimate()
+
+
+class TestLagd:
+  def test_read_saved_params(self):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    msg = messaging.new_message('liveDelay')
+    msg.liveDelay.lateralDelayEstimate = random.random()
+    msg.liveDelay.validBlocks = random.randint(1, 10)
+    params.put("LiveDelay", msg.to_bytes())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+
+    saved_lag_params = retrieve_initial_lag(params, CP)
+    assert saved_lag_params is not None
+
+    lag, valid_blocks = saved_lag_params
+    assert lag == msg.liveDelay.lateralDelayEstimate
+    assert valid_blocks == msg.liveDelay.validBlocks
+
+  def test_ncc(self):
+    lag_frames = random.randint(1, 19)
+
+    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
+    actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
+    mask = np.ones(len(desired_sig), dtype=bool)
+
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) == lag_frames
+
+    # add some noise
+    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
+    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+    # mask out 40% of the values, and make them noise
+    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+  def test_empty_estimator(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+    msg = estimator.get_msg(True)
+    assert msg.liveDelay.status == 'unestimated'
+    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
+    assert msg.liveDelay.validBlocks == 0
+
+  def test_estimator_basics(self, mocker, subtests):
+    for lag_frames in range(5):
+      with subtests.test(msg=f"lag_frames={lag_frames}"):
+        mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+        estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
+        process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+        msg = estimator.get_msg(True)
+        assert msg.liveDelay.status == 'estimated'
+        assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+
+  def test_estimator_masking(self, mocker):
+    mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19)
+    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
+    process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
+    msg = estimator.get_msg(True)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+
+  @pytest.mark.skipif(PC, reason="only on device")
+  @pytest.mark.timeout(60)
+  def test_estimator_performance(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+
+    ds = []
+    for _ in range(1000):
+      st = time.perf_counter()
+      estimator.update_points()
+      estimator.update_estimate()
+      d = time.perf_counter() - st
+      ds.append(d)
+
+    assert np.mean(ds) < DT
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index b1399ab43b..c2e8259135 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -75,7 +75,7 @@ class SelfdriveD:
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 3ee761ee44..9715e48615 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -462,7 +462,7 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveParameters", "radarState",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
       "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
@@ -551,6 +551,15 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
+  ProcessConfig(
+    proc_name="lagd",
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
+    subs=["liveDelay"],
+    ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    tolerance=NUMPY_TOLERANCE,
+  ),
   ProcessConfig(
     proc_name="ubloxd",
     pubs=["ubloxRaw"],
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d4b02296d6..d7eb3686db 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-37fd7afb99bf188c1e5375d01f011ae35821f640
\ No newline at end of file
+4576c437dc14bc830956dd272dade4d7f027dab5
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index bb30ab2acd..d479369693 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
-  ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
-  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
-  ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
-  ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
-  ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"),
-  ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
-  ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
-  ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
-  ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
-  ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
-  ("GM", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
-  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
-  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
+  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
+  ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
+  ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
+  ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
+  ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
+  ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
+  ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
+  ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
+  ("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"),
+  ("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"),
+  ("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"),
+  ("GM", "regen1271097D038|2025-04-09--03-26-00--0"),
+  ("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"),
+  ("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
-  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
+  ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
+  ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -195,7 +195,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index ebc87800b7..4cd952219c 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -44,7 +44,6 @@ PROCS = {
   "./camerad": 10.0,
   "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
-  "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
@@ -53,6 +52,8 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
+  "selfdrive.locationd.paramsd": 9.0,
+  "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 6e048c339e..e25d556037 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -94,6 +94,7 @@ procs = [
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),

From 3e6267967b21f2339c98df996644db82765be8d5 Mon Sep 17 00:00:00 2001
From: Robbe Derks <robbe.derks@gmail.com>
Date: Thu, 10 Apr 2025 16:33:36 +0200
Subject: [PATCH 23/91] Raise thermal setpoint (#35008)

We don't need to control all the way down to 70C
---
 system/hardware/fan_controller.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index be93d5922a..7d5bec0509 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -27,7 +27,7 @@ class TiciFanController(BaseFanController):
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 70 - cur_temp
+    error = 75 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
                       feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])

From 0a2fd7bd61186cab6c0937a821b1e2ee48a1fbdb Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Thu, 10 Apr 2025 15:20:41 -0400
Subject: [PATCH 24/91] UI: Update `AbstractControlSP_SELECTOR` and
 `OptionControlSP` (#800)

* controls

* Adjust label width dynamically based on layout type.

Updated the label's fixed width to be conditional on the layout type, improving adaptability for different inline layouts. Additionally, corrected indentation in the width calculation loop for consistency.

* Refactor OptionControlSP to improve parameter value handling and encapsulate logic in dedicated methods

* Refactor getParamValue to return an integer and ensure value is updated correctly in button click handler

* Trying to unify a bit the logic. still WIP

* Reducing a bit the change footprint

* Refactor spacing item handling to prevent duplicate insertion and improve layout management

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 .../ui/sunnypilot/qt/widgets/controls.cc      | 11 +---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 63 +++++++++++++++----
 2 files changed, 53 insertions(+), 21 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index d02efc0a8d..09ab5417ed 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -132,10 +132,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
 
         if (isVisible && spacingItem) {
           main_layout->removeItem(spacingItem);
-          delete spacingItem;
-          spacingItem = nullptr;
-        } else if (!isVisible && spacingItem == nullptr) {
-          spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+        } else if (!isVisible && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
           main_layout->insertItem(main_layout->indexOf(description), spacingItem);
         }
       }
@@ -145,8 +142,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
   }
 
   main_layout->addLayout(hlayout);
-  if (!desc.isEmpty() && spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (!desc.isEmpty() && spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->count(), spacingItem);
   }
 
@@ -166,8 +162,7 @@ void AbstractControlSP_SELECTOR::hideEvent(QHideEvent *e) {
     description->hide();
   }
 
-  if (spacingItem == nullptr) {
-    spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
+  if (spacingItem != nullptr && main_layout->indexOf(spacingItem) == -1) {
     main_layout->insertItem(main_layout->indexOf(description), spacingItem);
   }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index f46031088f..bb3cec88f9 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -96,11 +96,10 @@ class AbstractControlSP_SELECTOR : public AbstractControlSP {
   Q_OBJECT
 
 protected:
+  QSpacerItem *spacingItem = new QSpacerItem(44, 44, QSizePolicy::Minimum, QSizePolicy::Fixed);
   AbstractControlSP_SELECTOR(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr);
   void hideEvent(QHideEvent *e) override;
 
-private:
-  QSpacerItem *spacingItem = nullptr;
 };
 
 // widget to display a value
@@ -417,14 +416,29 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 private:
+  bool isInlineLayout;
+  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
+  
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
+  
+  int getParamValue() {
+    const auto param_value = QString::fromStdString(params.get(key));
+    const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
+    return result.toInt();
+  }
+
+  // Although the method is not static, and thus has access to the value property, I prefer to be explicit about the value.
+  void setParamValue(const int new_value) {
+    const auto value_str = valueMap != nullptr ? valueMap->value(QString::number(new_value)) : QString::number(new_value);
+    params.put(key, value_str.toStdString());
+  }
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1) : _title(title), AbstractControlSP_SELECTOR(title, desc, icon) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -444,14 +458,27 @@ public:
       }
     )";
 
+    if (inline_layout) {
+      optionSelectorLayout->setMargin(0);
+      optionSelectorLayout->setSpacing(0);
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+      if (spacingItem != nullptr && main_layout->indexOf(spacingItem) != -1) {
+        main_layout->removeItem(spacingItem);
+        spacingItem = nullptr;
+      }
+    }
+
     label.setStyleSheet(label_enabled_style);
-    label.setFixedWidth(300);
+    label.setFixedWidth(inline_layout ? 350 : 300);
     label.setAlignment(Qt::AlignCenter);
 
     const std::vector<QString> button_texts{"－", "＋"};
 
     key = param.toStdString();
-    value = atoi(params.get(key).c_str());
+    value = getParamValue();
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
@@ -459,19 +486,18 @@ public:
       QPushButton *button = new QPushButton(button_texts[i], this);
       button->setStyleSheet(style + ((i == 0) ? "QPushButton { text-align: left; }" :
                                                 "QPushButton { text-align: right; }"));
-      hlayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
+      optionSelectorLayout->addWidget(button, 0, ((i == 0) ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignVCenter);
       if (i == 0) {
-        hlayout->addWidget(&label, 0, Qt::AlignCenter);
+        optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
       }
       button_group->addButton(button, i);
 
       QObject::connect(button, &QPushButton::clicked, [=]() {
         int change_value = (i == 0) ? -per_value_change : per_value_change;
-        key = param.toStdString();
-        value = atoi(params.get(key).c_str());
+        value = getParamValue(); // in case it changed externally, we need to get the latest value.
         value += change_value;
         value = std::clamp(value, range.min_value, range.max_value);
-        params.put(key, QString::number(value).toStdString());
+        setParamValue(value);
 
         button_group->button(0)->setEnabled(!(value <= range.min_value));
         button_group->button(1)->setEnabled(!(value >= range.max_value));
@@ -484,7 +510,13 @@ public:
       });
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    optionSelectorLayout->setAlignment(Qt::AlignLeft);
+    if (isInlineLayout) {
+      QFrame *container = new QFrame;
+      container->setLayout(optionSelectorLayout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
   }
 
   void setUpdateOtherToggles(bool _update) {
@@ -506,6 +538,10 @@ public:
 
 protected:
   void paintEvent(QPaintEvent *event) override {
+    if (isInlineLayout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -513,8 +549,8 @@ protected:
     int w = 0;
     int h = 150;
 
-    for (int i = 0; i < hlayout->count(); ++i) {
-      QWidget *widget = qobject_cast<QWidget *>(hlayout->itemAt(i)->widget());
+    for (int i = 0; i < optionSelectorLayout->count(); ++i) {
+      QWidget *widget = qobject_cast<QWidget *>(optionSelectorLayout->itemAt(i)->widget());
       if (widget) {
         w += widget->width();
       }
@@ -544,6 +580,7 @@ private:
   std::map<QString, QString> option_label = {};
   bool request_update = false;
   QString _title = "";
+  const QMap<QString, QString> *valueMap;
 
   const QString label_enabled_style = "font-size: 50px; font-weight: 450; color: #FFFFFF;";
   const QString label_disabled_style = "font-size: 50px; font-weight: 450; color: #5C5C5C;";

From 24c2d9a68a03f3282519c7ffd82241e38df305f5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 10 Apr 2025 15:57:15 -0700
Subject: [PATCH 25/91] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 8a583aaa8c..0dc95a89dd 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 8a583aaa8c1a27a3d13747b7ecead6a3d73a4e81
+Subproject commit 0dc95a89dd7df1e27c36d7560c39666151af81df

From 6a00ac9cd0d16a96e376eb0fc45d31dd79d66e7c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 11 Apr 2025 14:28:59 -0400
Subject: [PATCH 26/91] Radard: vision-based yRel for Hyundai single-lead
 systems (#805)

Introduced processing for custom yRel values using HyundaiFlagsSP when the enhanced SCC flag is enabled. Updated `radard` to handle `CarParamsSP` and make necessary adjustments for Hyundai vehicles with specific SCC configurations.
---
 selfdrive/controls/radard.py | 31 +++++++++++++++++++++++++------
 1 file changed, 25 insertions(+), 6 deletions(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 98fce1cb26..a5dd3400e3 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -5,13 +5,16 @@ from collections import deque
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car
+from cereal import messaging, log, car, custom
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
+from opendbc.car import structs
+from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
+
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 1.5
@@ -157,7 +160,7 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, CP: structs.CarParams, CP_SP: structs.CarParamsSP, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
   if len(tracks) > 0 and ready and lead_msg.prob > .5:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
@@ -167,6 +170,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
+    lead_dict = get_custom_yrel(CP, CP_SP, lead_dict, lead_msg)
   elif (track is None) and ready and (lead_msg.prob > .5):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
@@ -182,8 +186,19 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   return lead_dict
 
 
+def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
+                    lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
+  if CP.brand == "hyundai" and CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC:
+    lead_dict['yRel'] = float(-lead_msg.y[0])
+
+  return lead_dict
+
+
 class RadarD:
-  def __init__(self, delay: float = 0.0):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float = 0.0):
+    self.CP = CP
+    self.CP_SP = CP_SP
+
     self.current_time = 0.0
 
     self.tracks: dict[int, Track] = {}
@@ -239,8 +254,8 @@ class RadarD:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.CP, self.CP_SP, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.CP, self.CP_SP, low_speed_override=False)
 
   def publish(self, pm: messaging.PubMaster):
     assert self.radar_state is not None
@@ -260,11 +275,15 @@ def main() -> None:
   CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
+  cloudlog.info("radard is waiting for CarParamsSP")
+  CP_SP = messaging.log_from_bytes(Params().get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("radard got CarParamsSP")
+
   # *** setup messaging
   sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
   pm = messaging.PubMaster(['radarState'])
 
-  RD = RadarD(CP.radarDelay)
+  RD = RadarD(CP, CP_SP, CP.radarDelay)
 
   while 1:
     sm.update()

From fb87ba681ad79995f63015ad4ede0c1778ae3e9b Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 11 Apr 2025 16:06:45 -0400
Subject: [PATCH 27/91] MADS: transition to soft-disable for specific gear
 states (#791)

* MADS: transition to soft-disable for specific gear states

This commit enhances the condition checking functionality of the Modular Assistive Driving System (MADS) to implement a 'soft-disable' feature during the vehicle's active motion when a non-forward drive gear is engaged. It includes utilizing structs to reference various car state attributes and modifying a function definition to improve clarity. This adjustment boosts the system's reaction to gear shifts, increasing the safety and efficiency of the driving assist system.

* structs
---
 sunnypilot/mads/mads.py | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 93f4ad37e4..2d7d41b4bc 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -5,16 +5,18 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import car, log, custom
+from cereal import log, custom
 
+from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
-ButtonType = car.CarState.ButtonEvent.Type
+ButtonType = structs.CarState.ButtonEvent.Type
 EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
-SafetyModel = car.CarParams.SafetyModel
+GearShifter = structs.CarState.GearShifter
+SafetyModel = structs.CarParams.SafetyModel
 
 SET_SPEED_BUTTONS = (ButtonType.accelCruise, ButtonType.resumeCruise, ButtonType.decelCruise, ButtonType.setCruise)
 IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
@@ -48,7 +50,7 @@ class ModularAssistiveDrivingSystem:
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
-  def update_events(self, CS: car.CarState):
+  def update_events(self, CS: structs.CarState):
     def update_unified_engagement_mode():
       uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
       if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
@@ -70,7 +72,7 @@ class ModularAssistiveDrivingSystem:
       if self.events.has(EventName.seatbeltNotLatched):
         replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
         transition_paused_state()
-      if self.events.has(EventName.wrongGear):
+      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
         replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
         transition_paused_state()
       if self.events.has(EventName.reverseGear):
@@ -133,7 +135,7 @@ class ModularAssistiveDrivingSystem:
     else:
       self.events.remove(EventName.wrongCarMode)
 
-  def update(self, CS: car.CarState):
+  def update(self, CS: structs.CarState):
     if not self.enabled_toggle:
       return
 

From 92707e891237abf8a6852cb96205073fea553f65 Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Fri, 11 Apr 2025 16:21:49 -0400
Subject: [PATCH 28/91] UI: Device & Sunnylink Panels - Standardize push button
 size & alignment (#806)

* layout adjustments

* sunnylink_panel

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../qt/offroad/settings/device_panel.cc       | 21 ++++++++++---------
 .../qt/offroad/settings/sunnylink_panel.cc    |  9 ++++----
 2 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index f26ed0a198..b685116c96 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -31,15 +31,16 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
       continue;
     }
 
-    auto *btn = new PushButtonSP(text, 720, this, param);
+    auto *btn = new PushButtonSP(text, 750, this, param);
     btn->setObjectName(id);
-
-    device_grid_layout->addWidget(btn, row, col);
     buttons[id] = btn;
 
-    col++;
-    if (col > 1) {
-      col = 0;
+    if (col==0) {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignLeft);
+      col++;
+    } else {
+      device_grid_layout->addWidget(btn, row, col, Qt::AlignRight);
+      col=0;
       row++;
     }
   }
@@ -79,14 +80,14 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   // offroad mode and power buttons
 
   QHBoxLayout *power_layout = new QHBoxLayout();
-  power_layout->setSpacing(5);
+  power_layout->setSpacing(25);
 
-  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 720, this);
+  PushButtonSP *rebootBtn = new PushButtonSP(tr("Reboot"), 750, this);
   rebootBtn->setStyleSheet(rebootButtonStyle);
   power_layout->addWidget(rebootBtn);
   QObject::connect(rebootBtn, &PushButtonSP::clicked, this, &DevicePanelSP::reboot);
 
-  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 720, this);
+  PushButtonSP *poweroffBtn = new PushButtonSP(tr("Power Off"), 750, this);
   poweroffBtn->setStyleSheet(powerOffButtonStyle);
   power_layout->addWidget(poweroffBtn);
   QObject::connect(poweroffBtn, &PushButtonSP::clicked, this, &DevicePanelSP::poweroff);
@@ -100,7 +101,7 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   QObject::connect(offroadBtn, &PushButtonSP::clicked, this, &DevicePanelSP::setOffroadMode);
 
   QVBoxLayout *power_group_layout = new QVBoxLayout();
-  power_group_layout->setSpacing(30);
+  power_group_layout->setSpacing(25);
   power_group_layout->addWidget(offroadBtn, 0, Qt::AlignHCenter);
   power_group_layout->addLayout(power_layout);
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
index c9eccb2c42..1358cbc959 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.cc
@@ -85,7 +85,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Backup Settings
-  backupSettings = new PushButtonSP(tr("Backup Settings"), 730, this);
+  backupSettings = new PushButtonSP(tr("Backup Settings"), 750, this);
   backupSettings->setObjectName("backup_btn");
   connect(backupSettings, &QPushButton::clicked, [=]() {
     backupSettings->setEnabled(false);
@@ -96,7 +96,7 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   });
 
   // Restore Settings
-  restoreSettings = new PushButtonSP(tr("Restore Settings"), 730, this);
+  restoreSettings = new PushButtonSP(tr("Restore Settings"), 750, this);
   restoreSettings->setObjectName("restore_btn");
   connect(restoreSettings, &QPushButton::clicked, [=]() {
     restoreSettings->setEnabled(false);
@@ -108,10 +108,9 @@ SunnylinkPanel::SunnylinkPanel(QWidget *parent) : QFrame(parent) {
   // Settings Restore and Settings Backup in the same horizontal space
   auto settings_layout = new QHBoxLayout;
   settings_layout->setContentsMargins(0, 0, 0, 30);
-  settings_layout->addWidget(backupSettings);
+  settings_layout->addWidget(backupSettings, 0, Qt::AlignLeft);
   settings_layout->addSpacing(10);
-  settings_layout->addWidget(restoreSettings);
-  settings_layout->setAlignment(Qt::AlignLeft);
+  settings_layout->addWidget(restoreSettings, 0, Qt::AlignRight);
   list->addItem(settings_layout);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &SunnylinkPanel::updatePanel);

From b0915db50a464c55803b6bb7695a6fb45129540e Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Fri, 11 Apr 2025 14:55:12 -0700
Subject: [PATCH 29/91] [bot] Update Python packages (#35012)

* Update Python packages

* update refs

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 docs/CARS.md                             |   4 +-
 opendbc_repo                             |   2 +-
 selfdrive/test/process_replay/ref_commit |   2 +-
 uv.lock                                  | 138 ++++++++++++-----------
 4 files changed, 76 insertions(+), 70 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 1af8974f30..a1b027c51b 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 302 Supported Cars
+# 304 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-24|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 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
diff --git a/opendbc_repo b/opendbc_repo
index 81820502a0..00e7a69382 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 81820502a038b64e97caae81377ac65a3b86703e
+Subproject commit 00e7a69382d37694ab585466c187c814f7de4c56
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d7eb3686db..632922a8a4 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-4576c437dc14bc830956dd272dade4d7f027dab5
\ No newline at end of file
+3d3f875dc211ab0ca8a8e564ecf6dd3f52fcf7d9
\ No newline at end of file
diff --git a/uv.lock b/uv.lock
index aa49b605a5..7141fa5195 100644
--- a/uv.lock
+++ b/uv.lock
@@ -70,15 +70,15 @@ wheels = [
 
 [[package]]
 name = "aioice"
-version = "0.9.0"
+version = "0.10.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "dnspython" },
     { name = "ifaddr" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
+sdist = { url = "https://files.pythonhosted.org/packages/a8/8e/a68b686678c6c21e9d5a247d7b2849fd55e645179ebcd081889b53115854/aioice-0.10.0.tar.gz", hash = "sha256:25dfdcbacb89de0e2eac41e96a872499c37a9eb74fa22a0e92d8ac1a0a9141af", size = 44236 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b6/35/d21e48d3ba25d32aba5d142d54c4491376c659dd74d052a30dd25198007b/aioice-0.9.0-py3-none-any.whl", hash = "sha256:b609597a3a5a611e0004ff04772e16aceb881d51c25c0afc4ceac05d5e50024e", size = 24177 },
+    { url = "https://files.pythonhosted.org/packages/77/07/45f3f2864a8a5c1e0bf8618802dcc1d85f901cc13506a1d9eb93d1d2cbcb/aioice-0.10.0-py3-none-any.whl", hash = "sha256:e8c91083cc7858471554370d9037118d66582e25be24f4c6ad9ced2c2ba44bbe", size = 24882 },
 ]
 
 [[package]]
@@ -877,11 +877,11 @@ wheels = [
 
 [[package]]
 name = "markdown"
-version = "3.7"
+version = "3.8"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/54/28/3af612670f82f4c056911fbbbb42760255801b3068c48de792d354ff4472/markdown-3.7.tar.gz", hash = "sha256:2ae2471477cfd02dbbf038d5d9bc226d40def84b4fe2986e49b59b6b472bbed2", size = 357086 }
+sdist = { url = "https://files.pythonhosted.org/packages/2f/15/222b423b0b88689c266d9eac4e61396fe2cc53464459d6a37618ac863b24/markdown-3.8.tar.gz", hash = "sha256:7df81e63f0df5c4b24b7d156eb81e4690595239b7d70937d0409f1b0de319c6f", size = 360906 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/3f/08/83871f3c50fc983b88547c196d11cf8c3340e37c32d2e9d6152abe2c61f7/Markdown-3.7-py3-none-any.whl", hash = "sha256:7eb6df5690b81a1d7942992c97fad2938e956e79df20cbc6186e9c3a77b1c803", size = 106349 },
+    { url = "https://files.pythonhosted.org/packages/51/3f/afe76f8e2246ffbc867440cbcf90525264df0e658f8a5ca1f872b3f6192a/markdown-3.8-py3-none-any.whl", hash = "sha256:794a929b79c5af141ef5ab0f2f642d0f7b1872981250230e72682346f7cc90dc", size = 106210 },
 ]
 
 [[package]]
@@ -1092,41 +1092,45 @@ wheels = [
 
 [[package]]
 name = "multidict"
-version = "6.3.2"
+version = "6.4.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/fa/2d/6e0d6771cadd5ad14d13193cc8326dc0b341cc1659c306cbfce7a5058fff/multidict-6.3.2.tar.gz", hash = "sha256:c1035eea471f759fa853dd6e76aaa1e389f93b3e1403093fa0fd3ab4db490678", size = 88060 }
+sdist = { url = "https://files.pythonhosted.org/packages/da/2c/e367dfb4c6538614a0c9453e510d75d66099edf1c4e69da1b5ce691a1931/multidict-6.4.3.tar.gz", hash = "sha256:3ada0b058c9f213c5f95ba301f922d402ac234f1111a7d8fd70f1b99f3c281ec", size = 89372 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b1/e3/443e682e42eaddad0b217b7a59627927fa42b6cd7ba7174f0a01eb3fe6b8/multidict-6.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:45a034f41fcd16968c0470d8912d293d7b0d0822fc25739c5c2ff7835b85bc56", size = 62734 },
-    { url = "https://files.pythonhosted.org/packages/b1/4f/2126e9bc37f5be2fdfa36cc192e7ef10b3e9c58eec75a4468706aca96891/multidict-6.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:352585cec45f5d83d886fc522955492bb436fca032b11d487b12d31c5a81b9e3", size = 37115 },
-    { url = "https://files.pythonhosted.org/packages/6a/af/5aae0c05a66fdf8bf015ee6903d3a250a7d9c6cc75c9478d04995e6ff1e2/multidict-6.3.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:da9d89d293511fd0a83a90559dc131f8b3292b6975eb80feff19e5f4663647e2", size = 36371 },
-    { url = "https://files.pythonhosted.org/packages/94/27/42390b75c20ff63f43fce44f36f9f66be466cd9ee05326051e4caacdb75b/multidict-6.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79fa716592224aa652b9347a586cfe018635229074565663894eb4eb21f8307f", size = 243444 },
-    { url = "https://files.pythonhosted.org/packages/21/55/77077af851d7678fe0845c4050a537321d82fb12a04d4f6db334a1cc6ff7/multidict-6.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0326278a44c56e94792475268e5cd3d47fbc0bd41ee56928c3bbb103ba7f58fe", size = 256750 },
-    { url = "https://files.pythonhosted.org/packages/f1/09/4c5bfeb2fc8a1e14002239bd6a4d9ba2963fb148889d444b05a20db32a41/multidict-6.3.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:bb1ea87f7fe45e5079f6315e95d64d4ca8b43ef656d98bed63a02e3756853a22", size = 251630 },
-    { url = "https://files.pythonhosted.org/packages/24/a9/286756a1afb8648772de851f8f39d2dd4076506f0c0fc2b751259fcbf0dd/multidict-6.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7cff3c5a98d037024a9065aafc621a8599fad7b423393685dc83cf7a32f8b691", size = 238522 },
-    { url = "https://files.pythonhosted.org/packages/c2/03/4bb17df70742aae786fcbc27e89e2e49c322134698cd0739aec93e91c669/multidict-6.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ed99834b053c655d980fb98029003cb24281e47a796052faad4543aa9e01b8e8", size = 230230 },
-    { url = "https://files.pythonhosted.org/packages/53/cc/30df95ba07a9f233ae48d0605b3f72457364836b61a8a8e3d333fdcd32c0/multidict-6.3.2-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:7048440e505d2b4741e5d0b32bd2f427c901f38c7760fc245918be2cf69b3b85", size = 239676 },
-    { url = "https://files.pythonhosted.org/packages/25/37/2d9fe2944c2df5b71ba90cf657b90ad65f1542989cdabe4d1bdbf8c51530/multidict-6.3.2-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:27248c27b563f5889556da8a96e18e98a56ff807ac1a7d56cf4453c2c9e4cd91", size = 238143 },
-    { url = "https://files.pythonhosted.org/packages/ce/13/8f833f9f992eae49f4cb1a1ad05b8fbe183721a154d51c2136b177a41bdb/multidict-6.3.2-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:6323b4ba0e018bd266f776c35f3f0943fc4ee77e481593c9f93bd49888f24e94", size = 248817 },
-    { url = "https://files.pythonhosted.org/packages/15/d4/4f49c41af6c4cab962ad51436e6c5acfbdab4fa54f5e98faa56f66f89b03/multidict-6.3.2-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:81f7ce5ec7c27d0b45c10449c8f0fed192b93251e2e98cb0b21fec779ef1dc4d", size = 241268 },
-    { url = "https://files.pythonhosted.org/packages/af/60/e723a00f7bb44366eab8d02fe6f076ecfad58331e10f6f0ce94cb989819c/multidict-6.3.2-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:03bfcf2825b3bed0ba08a9d854acd18b938cab0d2dba3372b51c78e496bac811", size = 238267 },
-    { url = "https://files.pythonhosted.org/packages/62/a6/f6b63fc51c8a4e228e6d2105061be3048b02d490d47e67f7ec2de575f1d0/multidict-6.3.2-cp311-cp311-win32.whl", hash = "sha256:f32c2790512cae6ca886920e58cdc8c784bdc4bb2a5ec74127c71980369d18dc", size = 34986 },
-    { url = "https://files.pythonhosted.org/packages/85/56/ea976a5e3ebe0e871e004d9cacfe4c803f8ade353eaf4a247580e9dd7b9d/multidict-6.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:0b0c15e58e038a2cd75ef7cf7e072bc39b5e0488b165902efb27978984bbad70", size = 38427 },
-    { url = "https://files.pythonhosted.org/packages/83/ae/bd7518193b4374484c04ba0f6522d0572dc17fcd53d238deb3cb3643c858/multidict-6.3.2-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d1e0ba1ce1b8cc79117196642d95f4365e118eaf5fb85f57cdbcc5a25640b2a4", size = 62680 },
-    { url = "https://files.pythonhosted.org/packages/59/e0/a0a9247c32f385ac4c1afefe9c3f2271fb8e235aad72332d42384c41b9cb/multidict-6.3.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:029bbd7d782251a78975214b78ee632672310f9233d49531fc93e8e99154af25", size = 37366 },
-    { url = "https://files.pythonhosted.org/packages/c3/fa/8c23cdd4492d59bea0e762662285f2163766e69e5ea715fe6a03a8670660/multidict-6.3.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:d7db41e3b56817d9175264e5fe00192fbcb8e1265307a59f53dede86161b150e", size = 36103 },
-    { url = "https://files.pythonhosted.org/packages/87/35/3bcc3616cb54d3a327b1d26dbec284c3eb7b179e8a78a6075852dbb51dac/multidict-6.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fcab18e65cc555ac29981a581518c23311f2b1e72d8f658f9891590465383be", size = 248231 },
-    { url = "https://files.pythonhosted.org/packages/b8/c3/17ddbfd6fc3eed9ab7326a43651e1a97da73f7acc69b78a7bb04b59c073d/multidict-6.3.2-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0d50eff89aa4d145a5486b171a2177042d08ea5105f813027eb1050abe91839f", size = 259423 },
-    { url = "https://files.pythonhosted.org/packages/1f/67/64b18180e8f559cc93efaaaac2fe0746b9c978560866b6fdd626d3237129/multidict-6.3.2-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:643e57b403d3e240045a3681f9e6a04d35a33eddc501b4cbbbdbc9c70122e7bc", size = 256204 },
-    { url = "https://files.pythonhosted.org/packages/21/f6/e81a8e4817c2d32787b33ae58c72dc3fe08e0ba8e56e660a225df3cb8619/multidict-6.3.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d17b37b9715b30605b5bab1460569742d0c309e5c20079263b440f5d7746e7e", size = 249663 },
-    { url = "https://files.pythonhosted.org/packages/3e/e8/44ca66758df031a8119483cf5385e2ff3b09b9c6df8f3396d626c325b553/multidict-6.3.2-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:68acd51fa94e63312b8ddf84bfc9c3d3442fe1f9988bbe1b6c703043af8867fe", size = 232236 },
-    { url = "https://files.pythonhosted.org/packages/93/76/d2faabbac582dc100a4d7ecf7d0ab8dd2aadf7f10d5d5a19e9932cf63a2e/multidict-6.3.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:347eea2852ab7f697cc5ed9b1aae96b08f8529cca0c6468f747f0781b1842898", size = 252638 },
-    { url = "https://files.pythonhosted.org/packages/63/37/f5a6ea10dab96491b7300be940f86a5490dc474d18473c438f2550b78da3/multidict-6.3.2-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:e4d3f8e57027dcda84a1aa181501c15c45eab9566eb6fcc274cbd1e7561224f8", size = 247917 },
-    { url = "https://files.pythonhosted.org/packages/d4/b1/2c32b684763b69becbaaa61b7af8a45a6f757fc82d9b4b123ca90cb69f75/multidict-6.3.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:9ca57a841ffcf712e47875d026aa49d6e67f9560624d54b51628603700d5d287", size = 261754 },
-    { url = "https://files.pythonhosted.org/packages/cd/f2/badedad94e1731debe56d076c9e61a1658c5e9d65dfa9c1ee74d1e3d31d7/multidict-6.3.2-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:7cafdafb44c4e646118410368307693e49d19167e5f119cbe3a88697d2d1a636", size = 256389 },
-    { url = "https://files.pythonhosted.org/packages/c6/3a/0a3488be2e5a6499f512e748d31e8fb90b753eb35793ecf390b9d8548e66/multidict-6.3.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:430120c6ce3715a9c6075cabcee557daccbcca8ba25a9fedf05c7bf564532f2d", size = 251902 },
-    { url = "https://files.pythonhosted.org/packages/fe/44/62f76d0a5d836b96168f39a402a75dd3114d0df3cbb5669e0310034b71be/multidict-6.3.2-cp312-cp312-win32.whl", hash = "sha256:13bec31375235a68457ab887ce1bbf4f59d5810d838ae5d7e5b416242e1f3ed4", size = 35101 },
-    { url = "https://files.pythonhosted.org/packages/8f/a4/7aaf2313e1766710010c35f9d738fd6309fb71a758f8c0e81853b90afb3d/multidict-6.3.2-cp312-cp312-win_amd64.whl", hash = "sha256:c3b6d7620e6e90c6d97eaf3a63bf7fbd2ba253aab89120a4a9c660bf2d675391", size = 38479 },
-    { url = "https://files.pythonhosted.org/packages/aa/c1/7832c95a50641148b567b5366dd3354489950dcfd01c8fc28472bec63b9a/multidict-6.3.2-py3-none-any.whl", hash = "sha256:71409d4579f716217f23be2f5e7afca5ca926aaeb398aa11b72d793bff637a1f", size = 10347 },
+    { url = "https://files.pythonhosted.org/packages/16/e0/53cf7f27eda48fffa53cfd4502329ed29e00efb9e4ce41362cbf8aa54310/multidict-6.4.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:f6f19170197cc29baccd33ccc5b5d6a331058796485857cf34f7635aa25fb0cd", size = 65259 },
+    { url = "https://files.pythonhosted.org/packages/44/79/1dcd93ce7070cf01c2ee29f781c42b33c64fce20033808f1cc9ec8413d6e/multidict-6.4.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:f2882bf27037eb687e49591690e5d491e677272964f9ec7bc2abbe09108bdfb8", size = 38451 },
+    { url = "https://files.pythonhosted.org/packages/f4/35/2292cf29ab5f0d0b3613fad1b75692148959d3834d806be1885ceb49a8ff/multidict-6.4.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:fbf226ac85f7d6b6b9ba77db4ec0704fde88463dc17717aec78ec3c8546c70ad", size = 37706 },
+    { url = "https://files.pythonhosted.org/packages/f6/d1/6b157110b2b187b5a608b37714acb15ee89ec773e3800315b0107ea648cd/multidict-6.4.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2e329114f82ad4b9dd291bef614ea8971ec119ecd0f54795109976de75c9a852", size = 226669 },
+    { url = "https://files.pythonhosted.org/packages/40/7f/61a476450651f177c5570e04bd55947f693077ba7804fe9717ee9ae8de04/multidict-6.4.3-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:1f4e0334d7a555c63f5c8952c57ab6f1c7b4f8c7f3442df689fc9f03df315c08", size = 223182 },
+    { url = "https://files.pythonhosted.org/packages/51/7b/eaf7502ac4824cdd8edcf5723e2e99f390c879866aec7b0c420267b53749/multidict-6.4.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:740915eb776617b57142ce0bb13b7596933496e2f798d3d15a20614adf30d229", size = 235025 },
+    { url = "https://files.pythonhosted.org/packages/3b/f6/facdbbd73c96b67a93652774edd5778ab1167854fa08ea35ad004b1b70ad/multidict-6.4.3-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:255dac25134d2b141c944b59a0d2f7211ca12a6d4779f7586a98b4b03ea80508", size = 231481 },
+    { url = "https://files.pythonhosted.org/packages/70/57/c008e861b3052405eebf921fd56a748322d8c44dcfcab164fffbccbdcdc4/multidict-6.4.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d4e8535bd4d741039b5aad4285ecd9b902ef9e224711f0b6afda6e38d7ac02c7", size = 223492 },
+    { url = "https://files.pythonhosted.org/packages/30/4d/7d8440d3a12a6ae5d6b202d6e7f2ac6ab026e04e99aaf1b73f18e6bc34bc/multidict-6.4.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:30c433a33be000dd968f5750722eaa0991037be0be4a9d453eba121774985bc8", size = 217279 },
+    { url = "https://files.pythonhosted.org/packages/7f/e7/bca0df4dd057597b94138d2d8af04eb3c27396a425b1b0a52e082f9be621/multidict-6.4.3-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:4eb33b0bdc50acd538f45041f5f19945a1f32b909b76d7b117c0c25d8063df56", size = 228733 },
+    { url = "https://files.pythonhosted.org/packages/88/f5/383827c3f1c38d7c92dbad00a8a041760228573b1c542fbf245c37bbca8a/multidict-6.4.3-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:75482f43465edefd8a5d72724887ccdcd0c83778ded8f0cb1e0594bf71736cc0", size = 218089 },
+    { url = "https://files.pythonhosted.org/packages/36/8a/a5174e8a7d8b94b4c8f9c1e2cf5d07451f41368ffe94d05fc957215b8e72/multidict-6.4.3-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:ce5b3082e86aee80b3925ab4928198450d8e5b6466e11501fe03ad2191c6d777", size = 225257 },
+    { url = "https://files.pythonhosted.org/packages/8c/76/1d4b7218f0fd00b8e5c90b88df2e45f8af127f652f4e41add947fa54c1c4/multidict-6.4.3-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:e413152e3212c4d39f82cf83c6f91be44bec9ddea950ce17af87fbf4e32ca6b2", size = 234728 },
+    { url = "https://files.pythonhosted.org/packages/64/44/18372a4f6273fc7ca25630d7bf9ae288cde64f29593a078bff450c7170b6/multidict-6.4.3-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:8aac2eeff69b71f229a405c0a4b61b54bade8e10163bc7b44fcd257949620618", size = 230087 },
+    { url = "https://files.pythonhosted.org/packages/0f/ae/28728c314a698d8a6d9491fcacc897077348ec28dd85884d09e64df8a855/multidict-6.4.3-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:ab583ac203af1d09034be41458feeab7863c0635c650a16f15771e1386abf2d7", size = 223137 },
+    { url = "https://files.pythonhosted.org/packages/22/50/785bb2b3fe16051bc91c70a06a919f26312da45c34db97fc87441d61e343/multidict-6.4.3-cp311-cp311-win32.whl", hash = "sha256:1b2019317726f41e81154df636a897de1bfe9228c3724a433894e44cd2512378", size = 34959 },
+    { url = "https://files.pythonhosted.org/packages/2f/63/2a22e099ae2f4d92897618c00c73a09a08a2a9aa14b12736965bf8d59fd3/multidict-6.4.3-cp311-cp311-win_amd64.whl", hash = "sha256:43173924fa93c7486402217fab99b60baf78d33806af299c56133a3755f69589", size = 38541 },
+    { url = "https://files.pythonhosted.org/packages/fc/bb/3abdaf8fe40e9226ce8a2ba5ecf332461f7beec478a455d6587159f1bf92/multidict-6.4.3-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:1f1c2f58f08b36f8475f3ec6f5aeb95270921d418bf18f90dffd6be5c7b0e676", size = 64019 },
+    { url = "https://files.pythonhosted.org/packages/7e/b5/1b2e8de8217d2e89db156625aa0fe4a6faad98972bfe07a7b8c10ef5dd6b/multidict-6.4.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:26ae9ad364fc61b936fb7bf4c9d8bd53f3a5b4417142cd0be5c509d6f767e2f1", size = 37925 },
+    { url = "https://files.pythonhosted.org/packages/b4/e2/3ca91c112644a395c8eae017144c907d173ea910c913ff8b62549dcf0bbf/multidict-6.4.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:659318c6c8a85f6ecfc06b4e57529e5a78dfdd697260cc81f683492ad7e9435a", size = 37008 },
+    { url = "https://files.pythonhosted.org/packages/60/23/79bc78146c7ac8d1ac766b2770ca2e07c2816058b8a3d5da6caed8148637/multidict-6.4.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e1eb72c741fd24d5a28242ce72bb61bc91f8451877131fa3fe930edb195f7054", size = 224374 },
+    { url = "https://files.pythonhosted.org/packages/86/35/77950ed9ebd09136003a85c1926ba42001ca5be14feb49710e4334ee199b/multidict-6.4.3-cp312-cp312-manylinux_2_17_armv7l.manylinux2014_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:3cd06d88cb7398252284ee75c8db8e680aa0d321451132d0dba12bc995f0adcc", size = 230869 },
+    { url = "https://files.pythonhosted.org/packages/49/97/2a33c6e7d90bc116c636c14b2abab93d6521c0c052d24bfcc231cbf7f0e7/multidict-6.4.3-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4543d8dc6470a82fde92b035a92529317191ce993533c3c0c68f56811164ed07", size = 231949 },
+    { url = "https://files.pythonhosted.org/packages/56/ce/e9b5d9fcf854f61d6686ada7ff64893a7a5523b2a07da6f1265eaaea5151/multidict-6.4.3-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:30a3ebdc068c27e9d6081fca0e2c33fdf132ecea703a72ea216b81a66860adde", size = 231032 },
+    { url = "https://files.pythonhosted.org/packages/f0/ac/7ced59dcdfeddd03e601edb05adff0c66d81ed4a5160c443e44f2379eef0/multidict-6.4.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b038f10e23f277153f86f95c777ba1958bcd5993194fda26a1d06fae98b2f00c", size = 223517 },
+    { url = "https://files.pythonhosted.org/packages/db/e6/325ed9055ae4e085315193a1b58bdb4d7fc38ffcc1f4975cfca97d015e17/multidict-6.4.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c605a2b2dc14282b580454b9b5d14ebe0668381a3a26d0ac39daa0ca115eb2ae", size = 216291 },
+    { url = "https://files.pythonhosted.org/packages/fa/84/eeee6d477dd9dcb7691c3bb9d08df56017f5dd15c730bcc9383dcf201cf4/multidict-6.4.3-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:8bd2b875f4ca2bb527fe23e318ddd509b7df163407b0fb717df229041c6df5d3", size = 228982 },
+    { url = "https://files.pythonhosted.org/packages/82/94/4d1f3e74e7acf8b0c85db350e012dcc61701cd6668bc2440bb1ecb423c90/multidict-6.4.3-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:c2e98c840c9c8e65c0e04b40c6c5066c8632678cd50c8721fdbcd2e09f21a507", size = 226823 },
+    { url = "https://files.pythonhosted.org/packages/09/f0/1e54b95bda7cd01080e5732f9abb7b76ab5cc795b66605877caeb2197476/multidict-6.4.3-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:66eb80dd0ab36dbd559635e62fba3083a48a252633164857a1d1684f14326427", size = 222714 },
+    { url = "https://files.pythonhosted.org/packages/e7/a2/f6cbca875195bd65a3e53b37ab46486f3cc125bdeab20eefe5042afa31fb/multidict-6.4.3-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:c23831bdee0a2a3cf21be057b5e5326292f60472fb6c6f86392bbf0de70ba731", size = 233739 },
+    { url = "https://files.pythonhosted.org/packages/79/68/9891f4d2b8569554723ddd6154375295f789dc65809826c6fb96a06314fd/multidict-6.4.3-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:1535cec6443bfd80d028052e9d17ba6ff8a5a3534c51d285ba56c18af97e9713", size = 230809 },
+    { url = "https://files.pythonhosted.org/packages/e6/72/a7be29ba1e87e4fc5ceb44dabc7940b8005fd2436a332a23547709315f70/multidict-6.4.3-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:3b73e7227681f85d19dec46e5b881827cd354aabe46049e1a61d2f9aaa4e285a", size = 226934 },
+    { url = "https://files.pythonhosted.org/packages/12/c1/259386a9ad6840ff7afc686da96808b503d152ac4feb3a96c651dc4f5abf/multidict-6.4.3-cp312-cp312-win32.whl", hash = "sha256:8eac0c49df91b88bf91f818e0a24c1c46f3622978e2c27035bfdca98e0e18124", size = 35242 },
+    { url = "https://files.pythonhosted.org/packages/06/24/c8fdff4f924d37225dc0c56a28b1dca10728fc2233065fafeb27b4b125be/multidict-6.4.3-cp312-cp312-win_amd64.whl", hash = "sha256:11990b5c757d956cd1db7cb140be50a63216af32cd6506329c2c59d732d802db", size = 38635 },
+    { url = "https://files.pythonhosted.org/packages/96/10/7d526c8974f017f1e7ca584c71ee62a638e9334d8d33f27d7cdfc9ae79e4/multidict-6.4.3-py3-none-any.whl", hash = "sha256:59fe01ee8e2a1e8ceb3f6dbb216b09c8d9f4ef1c22c4fc825d045a147fa2ebc9", size = 10400 },
 ]
 
 [[package]]
@@ -4387,14 +4391,14 @@ wheels = [
 
 [[package]]
 name = "pytest-repeat"
-version = "0.9.3"
+version = "0.9.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "pytest" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/86/5e/99365eb229efff0b1bd475886150fc6db9937ab7e1bd21f6f65c1279e0eb/pytest_repeat-0.9.3.tar.gz", hash = "sha256:ffd3836dfcd67bb270bec648b330e20be37d2966448c4148c4092d1e8aba8185", size = 6272 }
+sdist = { url = "https://files.pythonhosted.org/packages/80/d4/69e9dbb9b8266df0b157c72be32083403c412990af15c7c15f7a3fd1b142/pytest_repeat-0.9.4.tar.gz", hash = "sha256:d92ac14dfaa6ffcfe6917e5d16f0c9bc82380c135b03c2a5f412d2637f224485", size = 6488 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/49/a8/0a0aec0c2541b8baf4a0b95af2ba99abce217ee43534adf9cb7c908cf184/pytest_repeat-0.9.3-py3-none-any.whl", hash = "sha256:26ab2df18226af9d5ce441c858f273121e92ff55f5bb311d25755b8d7abdd8ed", size = 4196 },
+    { url = "https://files.pythonhosted.org/packages/73/d4/8b706b81b07b43081bd68a2c0359fe895b74bf664b20aca8005d2bb3be71/pytest_repeat-0.9.4-py3-none-any.whl", hash = "sha256:c1738b4e412a6f3b3b9e0b8b29fcd7a423e50f87381ad9307ef6f5a8601139f3", size = 4180 },
 ]
 
 [[package]]
@@ -4713,27 +4717,27 @@ wheels = [
 
 [[package]]
 name = "ruff"
-version = "0.11.4"
+version = "0.11.5"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e8/5b/3ae20f89777115944e89c2d8c2e795dcc5b9e04052f76d5347e35e0da66e/ruff-0.11.4.tar.gz", hash = "sha256:f45bd2fb1a56a5a85fae3b95add03fb185a0b30cf47f5edc92aa0355ca1d7407", size = 3933063 }
+sdist = { url = "https://files.pythonhosted.org/packages/45/71/5759b2a6b2279bb77fe15b1435b89473631c2cd6374d45ccdb6b785810be/ruff-0.11.5.tar.gz", hash = "sha256:cae2e2439cb88853e421901ec040a758960b576126dab520fa08e9de431d1bef", size = 3976488 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/db/baee59ac88f57527fcbaad3a7b309994e42329c6bc4d4d2b681a3d7b5426/ruff-0.11.4-py3-none-linux_armv6l.whl", hash = "sha256:d9f4a761ecbde448a2d3e12fb398647c7f0bf526dbc354a643ec505965824ed2", size = 10106493 },
-    { url = "https://files.pythonhosted.org/packages/c1/d6/9a0962cbb347f4ff98b33d699bf1193ff04ca93bed4b4222fd881b502154/ruff-0.11.4-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:8c1747d903447d45ca3d40c794d1a56458c51e5cc1bc77b7b64bd2cf0b1626cc", size = 10876382 },
-    { url = "https://files.pythonhosted.org/packages/3a/8f/62bab0c7d7e1ae3707b69b157701b41c1ccab8f83e8501734d12ea8a839f/ruff-0.11.4-py3-none-macosx_11_0_arm64.whl", hash = "sha256:51a6494209cacca79e121e9b244dc30d3414dac8cc5afb93f852173a2ecfc906", size = 10237050 },
-    { url = "https://files.pythonhosted.org/packages/09/96/e296965ae9705af19c265d4d441958ed65c0c58fc4ec340c27cc9d2a1f5b/ruff-0.11.4-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3f171605f65f4fc49c87f41b456e882cd0c89e4ac9d58e149a2b07930e1d466f", size = 10424984 },
-    { url = "https://files.pythonhosted.org/packages/e5/56/644595eb57d855afed6e54b852e2df8cd5ca94c78043b2f29bdfb29882d5/ruff-0.11.4-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ebf99ea9af918878e6ce42098981fc8c1db3850fef2f1ada69fb1dcdb0f8e79e", size = 9957438 },
-    { url = "https://files.pythonhosted.org/packages/86/83/9d3f3bed0118aef3e871ded9e5687fb8c5776bde233427fd9ce0a45db2d4/ruff-0.11.4-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:edad2eac42279df12e176564a23fc6f4aaeeb09abba840627780b1bb11a9d223", size = 11547282 },
-    { url = "https://files.pythonhosted.org/packages/40/e6/0c6e4f5ae72fac5ccb44d72c0111f294a5c2c8cc5024afcb38e6bda5f4b3/ruff-0.11.4-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:f103a848be9ff379fc19b5d656c1f911d0a0b4e3e0424f9532ececf319a4296e", size = 12182020 },
-    { url = "https://files.pythonhosted.org/packages/b5/92/4aed0e460aeb1df5ea0c2fbe8d04f9725cccdb25d8da09a0d3f5b8764bf8/ruff-0.11.4-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:193e6fac6eb60cc97b9f728e953c21cc38a20077ed64f912e9d62b97487f3f2d", size = 11679154 },
-    { url = "https://files.pythonhosted.org/packages/1b/d3/7316aa2609f2c592038e2543483eafbc62a0e1a6a6965178e284808c095c/ruff-0.11.4-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7af4e5f69b7c138be8dcffa5b4a061bf6ba6a3301f632a6bce25d45daff9bc99", size = 13905985 },
-    { url = "https://files.pythonhosted.org/packages/63/80/734d3d17546e47ff99871f44ea7540ad2bbd7a480ed197fe8a1c8a261075/ruff-0.11.4-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:126b1bf13154aa18ae2d6c3c5efe144ec14b97c60844cfa6eb960c2a05188222", size = 11348343 },
-    { url = "https://files.pythonhosted.org/packages/04/7b/70fc7f09a0161dce9613a4671d198f609e653d6f4ff9eee14d64c4c240fb/ruff-0.11.4-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:e8806daaf9dfa881a0ed603f8a0e364e4f11b6ed461b56cae2b1c0cab0645304", size = 10308487 },
-    { url = "https://files.pythonhosted.org/packages/1a/22/1cdd62dabd678d75842bf4944fd889cf794dc9e58c18cc547f9eb28f95ed/ruff-0.11.4-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:5d94bb1cc2fc94a769b0eb975344f1b1f3d294da1da9ddbb5a77665feb3a3019", size = 9929091 },
-    { url = "https://files.pythonhosted.org/packages/9f/20/40e0563506332313148e783bbc1e4276d657962cc370657b2fff20e6e058/ruff-0.11.4-py3-none-musllinux_1_2_i686.whl", hash = "sha256:995071203d0fe2183fc7a268766fd7603afb9996785f086b0d76edee8755c896", size = 10924659 },
-    { url = "https://files.pythonhosted.org/packages/b5/41/eef9b7aac8819d9e942f617f9db296f13d2c4576806d604aba8db5a753f1/ruff-0.11.4-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:7a37ca937e307ea18156e775a6ac6e02f34b99e8c23fe63c1996185a4efe0751", size = 11428160 },
-    { url = "https://files.pythonhosted.org/packages/ff/61/c488943414fb2b8754c02f3879de003e26efdd20f38167ded3fb3fc1cda3/ruff-0.11.4-py3-none-win32.whl", hash = "sha256:0e9365a7dff9b93af933dab8aebce53b72d8f815e131796268709890b4a83270", size = 10311496 },
-    { url = "https://files.pythonhosted.org/packages/b6/2b/2a1c8deb5f5dfa3871eb7daa41492c4d2b2824a74d2b38e788617612a66d/ruff-0.11.4-py3-none-win_amd64.whl", hash = "sha256:5a9fa1c69c7815e39fcfb3646bbfd7f528fa8e2d4bebdcf4c2bd0fa037a255fb", size = 11399146 },
-    { url = "https://files.pythonhosted.org/packages/4f/03/3aec4846226d54a37822e4c7ea39489e4abd6f88388fba74e3d4abe77300/ruff-0.11.4-py3-none-win_arm64.whl", hash = "sha256:d435db6b9b93d02934cf61ef332e66af82da6d8c69aefdea5994c89997c7a0fc", size = 10450306 },
+    { url = "https://files.pythonhosted.org/packages/23/db/6efda6381778eec7f35875b5cbefd194904832a1153d68d36d6b269d81a8/ruff-0.11.5-py3-none-linux_armv6l.whl", hash = "sha256:2561294e108eb648e50f210671cc56aee590fb6167b594144401532138c66c7b", size = 10103150 },
+    { url = "https://files.pythonhosted.org/packages/44/f2/06cd9006077a8db61956768bc200a8e52515bf33a8f9b671ee527bb10d77/ruff-0.11.5-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:ac12884b9e005c12d0bd121f56ccf8033e1614f736f766c118ad60780882a077", size = 10898637 },
+    { url = "https://files.pythonhosted.org/packages/18/f5/af390a013c56022fe6f72b95c86eb7b2585c89cc25d63882d3bfe411ecf1/ruff-0.11.5-py3-none-macosx_11_0_arm64.whl", hash = "sha256:4bfd80a6ec559a5eeb96c33f832418bf0fb96752de0539905cf7b0cc1d31d779", size = 10236012 },
+    { url = "https://files.pythonhosted.org/packages/b8/ca/b9bf954cfed165e1a0c24b86305d5c8ea75def256707f2448439ac5e0d8b/ruff-0.11.5-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0947c0a1afa75dcb5db4b34b070ec2bccee869d40e6cc8ab25aca11a7d527794", size = 10415338 },
+    { url = "https://files.pythonhosted.org/packages/d9/4d/2522dde4e790f1b59885283f8786ab0046958dfd39959c81acc75d347467/ruff-0.11.5-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ad871ff74b5ec9caa66cb725b85d4ef89b53f8170f47c3406e32ef040400b038", size = 9965277 },
+    { url = "https://files.pythonhosted.org/packages/e5/7a/749f56f150eef71ce2f626a2f6988446c620af2f9ba2a7804295ca450397/ruff-0.11.5-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e6cf918390cfe46d240732d4d72fa6e18e528ca1f60e318a10835cf2fa3dc19f", size = 11541614 },
+    { url = "https://files.pythonhosted.org/packages/89/b2/7d9b8435222485b6aac627d9c29793ba89be40b5de11584ca604b829e960/ruff-0.11.5-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:56145ee1478582f61c08f21076dc59153310d606ad663acc00ea3ab5b2125f82", size = 12198873 },
+    { url = "https://files.pythonhosted.org/packages/00/e0/a1a69ef5ffb5c5f9c31554b27e030a9c468fc6f57055886d27d316dfbabd/ruff-0.11.5-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e5f66f8f1e8c9fc594cbd66fbc5f246a8d91f916cb9667e80208663ec3728304", size = 11670190 },
+    { url = "https://files.pythonhosted.org/packages/05/61/c1c16df6e92975072c07f8b20dad35cd858e8462b8865bc856fe5d6ccb63/ruff-0.11.5-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:80b4df4d335a80315ab9afc81ed1cff62be112bd165e162b5eed8ac55bfc8470", size = 13902301 },
+    { url = "https://files.pythonhosted.org/packages/79/89/0af10c8af4363304fd8cb833bd407a2850c760b71edf742c18d5a87bb3ad/ruff-0.11.5-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3068befab73620b8a0cc2431bd46b3cd619bc17d6f7695a3e1bb166b652c382a", size = 11350132 },
+    { url = "https://files.pythonhosted.org/packages/b9/e1/ecb4c687cbf15164dd00e38cf62cbab238cad05dd8b6b0fc68b0c2785e15/ruff-0.11.5-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f5da2e710a9641828e09aa98b92c9ebbc60518fdf3921241326ca3e8f8e55b8b", size = 10312937 },
+    { url = "https://files.pythonhosted.org/packages/cf/4f/0e53fe5e500b65934500949361e3cd290c5ba60f0324ed59d15f46479c06/ruff-0.11.5-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:ef39f19cb8ec98cbc762344921e216f3857a06c47412030374fffd413fb8fd3a", size = 9936683 },
+    { url = "https://files.pythonhosted.org/packages/04/a8/8183c4da6d35794ae7f76f96261ef5960853cd3f899c2671961f97a27d8e/ruff-0.11.5-py3-none-musllinux_1_2_i686.whl", hash = "sha256:b2a7cedf47244f431fd11aa5a7e2806dda2e0c365873bda7834e8f7d785ae159", size = 10950217 },
+    { url = "https://files.pythonhosted.org/packages/26/88/9b85a5a8af21e46a0639b107fcf9bfc31da4f1d263f2fc7fbe7199b47f0a/ruff-0.11.5-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:81be52e7519f3d1a0beadcf8e974715b2dfc808ae8ec729ecfc79bddf8dbb783", size = 11404521 },
+    { url = "https://files.pythonhosted.org/packages/fc/52/047f35d3b20fd1ae9ccfe28791ef0f3ca0ef0b3e6c1a58badd97d450131b/ruff-0.11.5-py3-none-win32.whl", hash = "sha256:e268da7b40f56e3eca571508a7e567e794f9bfcc0f412c4b607931d3af9c4afe", size = 10320697 },
+    { url = "https://files.pythonhosted.org/packages/b9/fe/00c78010e3332a6e92762424cf4c1919065707e962232797d0b57fd8267e/ruff-0.11.5-py3-none-win_amd64.whl", hash = "sha256:6c6dc38af3cfe2863213ea25b6dc616d679205732dc0fb673356c2d69608f800", size = 11378665 },
+    { url = "https://files.pythonhosted.org/packages/43/7c/c83fe5cbb70ff017612ff36654edfebec4b1ef79b558b8e5fd933bab836b/ruff-0.11.5-py3-none-win_arm64.whl", hash = "sha256:67e241b4314f4eacf14a601d586026a962f4002a475aa702c69980a38087aa4e", size = 10460287 },
 ]
 
 [[package]]
@@ -4979,20 +4983,20 @@ wheels = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.13.1"
+version = "4.13.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/76/ad/cd3e3465232ec2416ae9b983f27b9e94dc8171d56ac99b345319a9475967/typing_extensions-4.13.1.tar.gz", hash = "sha256:98795af00fb9640edec5b8e31fc647597b4691f099ad75f469a2616be1a76dff", size = 106633 }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/37/23083fcd6e35492953e8d2aaaa68b860eb422b34627b13f2ce3eb6106061/typing_extensions-4.13.2.tar.gz", hash = "sha256:e6c81219bd689f51865d9e372991c540bda33a0379d5573cddb9a3a23f7caaef", size = 106967 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/df/c5/e7a0b0f5ed69f94c8ab7379c599e6036886bffcde609969a5325f47f1332/typing_extensions-4.13.1-py3-none-any.whl", hash = "sha256:4b6cf02909eb5495cfbc3f6e8fd49217e6cc7944e145cdda8caa3734777f9e69", size = 45739 },
+    { url = "https://files.pythonhosted.org/packages/8b/54/b1ae86c0973cc6f0210b53d508ca3641fb6d0c56823f288d108bc7ab3cc8/typing_extensions-4.13.2-py3-none-any.whl", hash = "sha256:a439e7c04b49fec3e5d3e2beaa21755cadbbdc391694e28ccdd36ca4a1408f8c", size = 45806 },
 ]
 
 [[package]]
 name = "urllib3"
-version = "2.3.0"
+version = "2.4.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/aa/63/e53da845320b757bf29ef6a9062f5c669fe997973f966045cb019c3f4b66/urllib3-2.3.0.tar.gz", hash = "sha256:f8c5449b3cf0861679ce7e0503c7b44b5ec981bec0d1d3795a07f1ba96f0204d", size = 307268 }
+sdist = { url = "https://files.pythonhosted.org/packages/8a/78/16493d9c386d8e60e442a35feac5e00f0913c0f4b7c217c11e8ec2ff53e0/urllib3-2.4.0.tar.gz", hash = "sha256:414bc6535b787febd7567804cc015fee39daab8ad86268f1310a9250697de466", size = 390672 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c8/19/4ec628951a74043532ca2cf5d97b7b14863931476d117c471e8e2b1eb39f/urllib3-2.3.0-py3-none-any.whl", hash = "sha256:1cee9ad369867bfdbbb48b7dd50374c0967a0bb7710050facf0dd6911440e3df", size = 128369 },
+    { url = "https://files.pythonhosted.org/packages/6b/11/cc635220681e93a0183390e26485430ca2c7b5f9d33b15c74c2861cb8091/urllib3-2.4.0-py3-none-any.whl", hash = "sha256:4e16665048960a0900c702d4a66415956a584919c03361cac9f1df5c5dd7e813", size = 128680 },
 ]
 
 [[package]]

From a598d385f2db0f31c58505cbe9c46912b805598e Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 12 Apr 2025 05:47:00 -0400
Subject: [PATCH 30/91] ci: Remove redundant Panda build step from prebuilt
 workflow (#810)

The Panda build step was unnecessary as it is not utilized in this workflow. This change simplifies the workflow and reduces redundant actions, improving efficiency.
---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 6bd72ef50e..c7c72919c5 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -122,10 +122,6 @@ jobs:
           fi
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
 
-      - name: Build Panda
-        run: |
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} ${{ github.workspace }}/panda
-
       - name: Build Main Project
         run: |
           export PYTHONPATH="$BUILD_DIR"

From f1d703e6e4dc3c7514c51ef1c215d8c4887a8f5e Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Sat, 12 Apr 2025 10:33:17 -0400
Subject: [PATCH 31/91] Device: Customizable Max Time Offroad (#796)

* Max Time Offroad

* Refactor & Fix param

* Error Handling

* rename SP variable

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/widgets/controls.cc

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.h

Co-authored-by: DevTekVE <devtekve@gmail.com>

* Update selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/max_time_offroad.cc

Co-authored-by: DevTekVE <devtekve@gmail.com>

* UI layout changes for better alignment

selector is not big enough -> make it bigger ;)

OptionControlSP now includes a QMap argument to allow actual values to be set in param directly

* Rebase & resolve reviews

* change default to be closer to OP default

* me dumb

* MaxTimeOffroad: Add support for 30h limit and improve label formatting

* power_monitoring: Refactor MaxTimeOffroad parameter handling for clarity

* test: Add unit tests for MaxTimeOffroad parameter handling

* power_monitoring: Update MaxTimeOffroad handling to use seconds and improve shutdown logic

* power_monitoring: Improve exception handling and remove redundant shutdown check for MaxTimeOffroad

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 common/params_keys.h                          |  1 +
 selfdrive/ui/sunnypilot/SConscript            |  1 +
 .../qt/offroad/settings/device_panel.cc       |  5 ++
 .../qt/offroad/settings/device_panel.h        |  2 +
 .../qt/offroad/settings/max_time_offroad.cc   | 53 +++++++++++++++++++
 .../qt/offroad/settings/max_time_offroad.h    | 25 +++++++++
 system/hardware/power_monitoring.py           | 20 ++++++-
 .../hardware/tests/test_power_monitoring.py   | 37 ++++++++++++-
 system/manager/manager.py                     |  1 +
 9 files changed, 142 insertions(+), 3 deletions(-)
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
 create mode 100644 selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h

diff --git a/common/params_keys.h b/common/params_keys.h
index cd8208bbb1..2eef348720 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -127,6 +127,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
+    {"MaxTimeOffroad", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
     {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index 30748098a3..deeec44732 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -21,6 +21,7 @@ qt_src = [
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index b685116c96..3e613e1022 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -75,6 +75,11 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   connect(buttons["resetParams"], &PushButtonSP::clicked, this, &DevicePanelSP::resetSettings);
 
+  // Max Time Offroad
+  maxTimeOffroad = new MaxTimeOffroad();
+  connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
+  addItem(maxTimeOffroad);
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index dc77aa4647..7b7412a739 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
@@ -23,6 +24,7 @@ public:
 private:
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
+  MaxTimeOffroad *maxTimeOffroad;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
new file mode 100644
index 0000000000..4cc7351b03
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.cc
@@ -0,0 +1,53 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
+
+// Map of Max Offroad Time Options (Minutes)
+const QMap<QString, QString> MaxTimeOffroad::offroad_time_options = {
+  {"0", "0"}, // Always On
+  {"1", "5"},
+  {"2", "10"},
+  {"3", "15"},
+  {"4", "30"},
+  {"5", "60"},
+  {"6", "120"},
+  {"7", "180"},
+  {"8", "300"},
+  {"9", "600"},
+  {"10", "1440"},
+  {"11", "1800"}
+};
+
+MaxTimeOffroad::MaxTimeOffroad() : OptionControlSP(
+  "MaxTimeOffroad",
+  tr("Max Time Offroad"),
+  tr("Device will automatically shutdown after set time once the engine is turned off.<br/>(30h is the default)"),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &offroad_time_options) {
+
+  refresh();
+}
+
+void MaxTimeOffroad::refresh() {
+  const int maxOffroadInMinutes = QString::fromStdString(params.get("MaxTimeOffroad")).toInt();
+  const bool useHours = maxOffroadInMinutes >= 60;
+  
+  QString label;
+  if (maxOffroadInMinutes == 0) {
+    label = tr("Always On");
+  } else {
+    const int value = useHours ? maxOffroadInMinutes / 60 : maxOffroadInMinutes;
+    label = QString("%1%2").arg(value).arg(useHours ? tr("h") : tr("m"));
+  }
+  
+  if (maxOffroadInMinutes == 1800) {
+    label += tr(" (default)");
+  }
+  
+  setLabel(label);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h
new file mode 100644
index 0000000000..31c6a335c7
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MaxTimeOffroad : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> offroad_time_options;
+
+  MaxTimeOffroad();
+  void refresh();
+
+private:
+  Params params;
+};
diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py
index 5a94625b48..952aebd9d7 100644
--- a/system/hardware/power_monitoring.py
+++ b/system/hardware/power_monitoring.py
@@ -106,7 +106,23 @@ class PowerMonitoring:
   def get_car_battery_capacity(self) -> int:
     return int(self.car_battery_capacity_uWh)
 
-  # See if we need to shutdown
+  # Max Time Offroad
+  def max_time_offroad_exceeded(self, offroad_time):
+    """
+    Check if the max time offroad has been exceeded. If the value is 0, it means no limit.
+    :param offroad_time: Time spent offroad in seconds
+    :return: True if the max time offroad has been exceeded, False otherwise
+    """
+    try:
+      param = self.params.get("MaxTimeOffroad", encoding="utf8")
+      sp_max_time_val_s = int(param) * 60 if param is not None and int(param) >= 0 else MAX_TIME_OFFROAD_S
+    except Exception:
+      sp_max_time_val_s = MAX_TIME_OFFROAD_S
+
+    return sp_max_time_val_s > 0 and offroad_time >= sp_max_time_val_s
+
+
+# See if we need to shutdown
   def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
     if offroad_timestamp is None:
       return False
@@ -116,7 +132,7 @@ class PowerMonitoring:
     offroad_time = (now - offroad_timestamp)
     low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
                             offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
-    should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S
+    should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
     should_shutdown |= low_voltage_shutdown
     should_shutdown |= (self.car_battery_capacity_uWh <= 0)
     should_shutdown &= not ignition
diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py
index 1dff6c6c5f..3eec13dc4c 100644
--- a/system/hardware/tests/test_power_monitoring.py
+++ b/system/hardware/tests/test_power_monitoring.py
@@ -2,7 +2,7 @@ import pytest
 
 from openpilot.common.params import Params
 from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
-                                                CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
+  CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S, MAX_TIME_OFFROAD_S
 
 # Create fake time
 ssb = 0.
@@ -197,3 +197,38 @@ class TestPowerMonitoring:
                                        offroad_timestamp,
                                        started_seen), \
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time"
+
+  @pytest.mark.parametrize(
+    "max_time_offroad, offroad_time_min, expected_result",
+    [
+      # No max time set – fallback to default (30 hours)
+      (None, 0, False),
+      (None, MAX_TIME_OFFROAD_S + 1, True),  # exceeds 30h (1800+ mins)
+
+      # Valid max time values (in minutes)
+      ("60", 59, False),  # under limit
+      ("60", 120, True),  # over limit
+      ("10", 8, False),  # under limit
+      ("10", 11, True),  # over limit
+
+      # Edge case: max time is zero → no limit enforced
+      ("0", 0, False),
+      ("0", 400, False),
+
+      # Invalid max time formats or negative values → fallback to 30 hours
+      ("invalid", 100, False),  # should fallback to 30h
+      ("-1", MAX_TIME_OFFROAD_S + 1, True),  # should fallback to 30h, and exceed it
+    ]
+  )
+  def test_max_time_offroad_exceeded(self, max_time_offroad, offroad_time_min, expected_result):
+    # Set the parameter if provided
+    if max_time_offroad is not None:
+      self.params.put("MaxTimeOffroad", max_time_offroad)
+
+    # Convert offroad time from minutes to seconds
+    offroad_time_s = offroad_time_min * 60
+
+    pm = PowerMonitoring()
+    result = pm.max_time_offroad_exceeded(offroad_time_s)
+
+    assert result == expected_result
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 6bd0a557c8..1feab03a1f 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -50,6 +50,7 @@ def manager_init() -> None:
     ("MadsMainCruiseAllowed", "1"),
     ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
+    ("MaxTimeOffroad", "1800"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),

From 43eefed5142bdf523dd2402085744f1086d3100f Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 12 Apr 2025 12:22:42 -0400
Subject: [PATCH 32/91] Hyundai longitudinal: Parse lead info for camera-based
 SCC platforms (#809)

* Hyundai longitudinal: Parse lead info for camera-based SCC platforms

* fix

* update

* bump

* update tests

* lol why is this here

* bump

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 opendbc_repo                 | 2 +-
 selfdrive/controls/radard.py | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 807ce9ff43..7942a631bd 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 807ce9ff4329c4b42c3a331204bd9a7c130cbde4
+Subproject commit 7942a631bd4ff84a6a20ad36a16a36861eaf2543
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index a5dd3400e3..bee4244054 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -13,6 +13,7 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.common.simple_kalman import KF1D
 
 from opendbc.car import structs
+from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 
 
@@ -188,7 +189,8 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
 
 def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict: dict[str, Any],
                     lead_msg: capnp._DynamicStructReader) -> dict[str, Any]:
-  if CP.brand == "hyundai" and CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC:
+  if CP.brand == "hyundai" and (CP_SP.flags & HyundaiFlagsSP.ENHANCED_SCC or
+                                CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
     lead_dict['yRel'] = float(-lead_msg.y[0])
 
   return lead_dict

From 6bd47c4eec1042ff98d36ddae952b8e3f49c8ad3 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 13 Apr 2025 21:39:26 +0200
Subject: [PATCH 33/91] Models: point to v2 of driving models json for
 recompiled models (#817)

Use newer model version json since they have been recompiled
---
 sunnypilot/models/fetcher.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index d9aa54aa88..3e3e479903 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -122,7 +122,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v2.json"
 
   def __init__(self, params: Params):
     self.params = params

From b9d584245f7c72f0d5720f1079531546b152a986 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 14 Apr 2025 19:29:33 +0200
Subject: [PATCH 34/91] ci: update squash script for external contributors
 (#811)

* Get head ref info

* Simpify adding the comment with the newest flagg by gh cli

* Dynamic origin

* Enhance PR processing: add label handling for forked PRs and improve variable naming

* Refactor PR label handling: use constant for trust-fork label and improve comments

* Fix remote addition in PR processing: change subprocess call to not check for errors

* Refactor PR comment handling: support multiple comments and improve clarity

* Refactor PR processing: streamline comment handling and improve error management

* Refactor add_pr_comments function: specify comments type as list of strings

* Maybe we don't prevent "behind" branches to be merged as lon as the PR itself is mergeable

* lint, leave me alone

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 .../sunnypilot-master-dev-c3-prep.yaml        | 11 +++
 release/ci/squash_and_merge_prs.py            | 94 ++++++++++---------
 2 files changed, 61 insertions(+), 44 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 0a6a76099f..f6b7497420 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -97,6 +97,17 @@ jobs:
                     headRefName
                     title
                     createdAt
+                    labels(last:10) {
+                      nodes {
+                        name
+                      }
+                    }
+                    headRepository {
+                      name
+                      nameWithOwner
+                      url
+                      isFork
+                    }
                     commits(last: 1) {
                       nodes {
                         commit {
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 5cd1b95746..6d8f70f349 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -7,6 +7,7 @@ import argparse
 import json
 from datetime import datetime
 
+TRUST_FORK_LABEL = "trust-fork-pr"
 
 def setup_argument_parser():
   parser = argparse.ArgumentParser(description='Process and squash GitHub PRs')
@@ -37,43 +38,25 @@ def sort_prs_by_creation(pr_data):
   )
 
 
-def add_pr_comment(pr_number, comment):
+def add_pr_comments(pr_number, comments: list[str]):
+  """Adds or updates a comment with multiple comments to a PR using gh cli"""
+  comment = "\n___\n".join(comments)
+  _add_pr_comment(pr_number, comment)
+
+
+def _add_pr_comment(pr_number, comment):
   """Add or update a comment to a PR using gh cli"""
   title = "## Squash and Merge"
 
   try:
-    result = subprocess.run(
-      ['gh', 'pr', 'view', str(pr_number), '--json', 'comments'],
+    full_comment = f"{title}\n\n{comment}"
+    subprocess.run(
+      ['gh', 'pr', 'comment', '--edit-last', '--create-if-none', f"#{pr_number}", '--body', full_comment],
       check=True,
       capture_output=True,
       text=True
     )
 
-    comments_data = json.loads(result.stdout)
-    has_existing_comment = False
-
-    for pr_comment in comments_data['comments']:
-      if pr_comment['body'].startswith(title):
-        has_existing_comment = True
-        break
-
-    full_comment = f"{title}\n\n{comment}"
-
-    if has_existing_comment:
-      subprocess.run(
-        ['gh', 'pr', 'comment', '--edit-last', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-    else:
-      subprocess.run(
-        ['gh', 'pr', 'comment', f"#{pr_number}", '--body', full_comment],
-        check=True,
-        capture_output=True,
-        text=True
-      )
-
   except subprocess.CalledProcessError as e:
     print(f"Failed to add/update comment on PR #{pr_number}: {e.stderr}")
   except json.JSONDecodeError:
@@ -104,8 +87,8 @@ def validate_pr(pr):
   if not merge_data.get('mergeable'):
     return False, "merge conflicts detected"
 
-  if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-    return False, f"branch is `{mergeStateStatus}`"
+  # if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
+  #   return False, f"branch is `{mergeStateStatus}`"
 
   return True, None
 
@@ -122,24 +105,43 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
     subprocess.run(['git', 'branch', target_branch, f'origin/{source_branch}'], check=True)
     success_count = 0
     for pr in nodes:
-      pr_number = pr.get('number', 'UNKNOWN')
-      branch = pr.get('headRefName', '')
-      title = pr.get('title', '')
-      is_valid, skip_reason = validate_pr(pr)
-
-      if not is_valid:
-        print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
-        add_pr_comment(pr_number,
-                       f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
-        continue
-
+      pr_comments = []
       try:
+        pr_number = pr.get('number', 'UNKNOWN')
+        branch = pr.get('headRefName', '')
+        title = pr.get('title', '')
+        head_repository = pr.get('headRepository', {})
+        pr_labels = pr.get('labels', {}).get('nodes', [])
+        is_fork = head_repository.get('isFork', False)
+        trust_fork = any(label.get('name') == TRUST_FORK_LABEL for label in pr_labels)
+        is_valid, skip_reason = validate_pr(pr)
+        origin = "origin" if not head_repository.get('isFork', False) else head_repository.get('nameWithOwner', 'origin')
+
+        if is_fork and trust_fork:
+          print(f"Removing label `{TRUST_FORK_LABEL}` from PR #{pr_number} as it is being processed")
+          subprocess.run(['gh', 'pr', 'edit', str(pr_number), '--remove-label', TRUST_FORK_LABEL], check=True)
+          pr_comments.append(f"ℹ️️ This PR is from a fork. The `{TRUST_FORK_LABEL}` label was removed as it is being processed right now.")
+          print(f"Adding remote {origin} for PR #{pr_number}")
+          subprocess.run(['git', 'remote', 'add', origin, head_repository.get('url')], check=False)
+
+        if is_fork and not trust_fork:
+          pr_comments.append(
+            f"⚠️ This PR is from a fork. Please add the `{TRUST_FORK_LABEL}` label to include it in the squash." +
+            "\n**Note**: The label is removed after the squash is done and must be added again for the next execution for security reasons."
+          )
+          continue
+
+        if not is_valid:
+          print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
+          pr_comments.append(f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")
+          continue
+
         # Fetch PR branch
-        subprocess.run(['git', 'fetch', 'origin', branch], check=True)
+        subprocess.run(['git', 'fetch', origin, branch], check=True)
         # Delete branch if it exists (ignore errors if it doesn't)
         subprocess.run(['git', 'branch', '-D', branch], check=False)
         # Create new branch pointing to origin's branch
-        subprocess.run(['git', 'branch', branch, f'origin/{branch}'], check=True)
+        subprocess.run(['git', 'branch', branch, f'{origin}/{branch}'], check=True)
 
         # Run squash script
         result = subprocess.run([
@@ -160,13 +162,17 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
         print(f"Command failed with exit code {result.returncode}")
         output = result.stdout
         print(f"Error output: {output}")
-        add_pr_comment(pr_number, f"⚠️ Error during automated `{target_branch}` squash:\n```\n{output}\n```")
+        pr_comments.append(f"⚠️ Error during automated `{target_branch}` squash:\n```\n{output}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
       except Exception as e:
         print(f"Unexpected error processing PR #{pr_number}: {str(e)}")
+        pr_comments.append(f"⚠️ Unexpected error during automated `{target_branch}` squash:\n```\n{str(e)}\n```")
         subprocess.run(['git', 'reset', '--hard'], check=True)
         continue
+      finally:
+        if pr_comments:
+          add_pr_comments(pr_number, pr_comments)  # This "commits" all the comments generated on this run before leaving loop on continue.
 
     return success_count
 

From b41ace34cc2ec5f0be2d5b19204fc34a3822f9c0 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Mon, 14 Apr 2025 20:18:05 +0200
Subject: [PATCH 35/91] sunnylink: fix sunnylink backup restore version parsing
 (#816)

* improvement

* fix: Improve version parsing logic for sunnypilot

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/sunnylink/backups/manager.py | 23 ++++++++++++++++++-----
 1 file changed, 18 insertions(+), 5 deletions(-)

diff --git a/sunnypilot/sunnylink/backups/manager.py b/sunnypilot/sunnylink/backups/manager.py
index 7f3eddeaa8..d6408d7ba7 100644
--- a/sunnypilot/sunnylink/backups/manager.py
+++ b/sunnypilot/sunnylink/backups/manager.py
@@ -210,12 +210,25 @@ class BackupManagerSP:
   def _get_current_version(self) -> custom.BackupManagerSP.Version:
     """Gets current sunnypilot version information."""
     version_obj = custom.BackupManagerSP.Version()
-    version_parts = get_version().split('.')
-    version_obj.major = int(version_parts[0]) if len(version_parts) > 0 else 0
-    version_obj.minor = int(version_parts[1]) if len(version_parts) > 1 else 0
-    version_obj.patch = int(version_parts[2]) if len(version_parts) > 2 else 0
-    version_obj.build = int(version_parts[3]) if len(version_parts) > 3 else 0
+    version_str = get_version()
+
+    version_parts = version_str.split('-')  # For when version is like "1.2.3-456"
+    version_nums = version_parts[0].split('.')
+
+    # Extract build number from hyphen format or as 4th version component
+    build = 0
+    if len(version_parts) > 1 and version_parts[1].isdigit():
+      build = int(version_parts[1])
+    elif len(version_nums) > 3 and version_nums[3].isdigit():
+      build = int(version_nums[3])
+
+    # Set version components with safer defaults
+    version_obj.major = int(version_nums[0]) if len(version_nums) > 0 and version_nums[0].isdigit() else 0
+    version_obj.minor = int(version_nums[1]) if len(version_nums) > 1 and version_nums[1].isdigit() else 0
+    version_obj.patch = int(version_nums[2]) if len(version_nums) > 2 and version_nums[2].isdigit() else 0
+    version_obj.build = build
     version_obj.branch = get_branch()
+
     return version_obj
 
   async def main_thread(self) -> None:

From 3615b1a20371c8e074f591030fb56c770db7c08c Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 14 Apr 2025 14:50:21 -0400
Subject: [PATCH 36/91] DM: Enforce monitoring of MADS state in driver
 monitoring (#818)

* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how
---
 selfdrive/monitoring/dmonitoringd.py | 3 ++-
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index f137b406b4..d0d28ebac1 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -10,7 +10,8 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+                            'selfdriveStateSP'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 337be3a2ae..76a07b079d 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled,
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From dced8d7f87bab006fe15aae5c43b30b7b36b2c08 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 14 Apr 2025 16:51:16 -0700
Subject: [PATCH 37/91] [bot] Update Python packages (#35017)

Update Python packages

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 opendbc_repo |  2 +-
 uv.lock      | 67 +++++++++++++++++++++++++++++-----------------------
 2 files changed, 38 insertions(+), 31 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 00e7a69382..d65fa99e2a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 00e7a69382d37694ab585466c187c814f7de4c56
+Subproject commit d65fa99e2aa60a6d98cdfb5acb912665e9e6447e
diff --git a/uv.lock b/uv.lock
index 7141fa5195..6911f053cb 100644
--- a/uv.lock
+++ b/uv.lock
@@ -70,15 +70,15 @@ wheels = [
 
 [[package]]
 name = "aioice"
-version = "0.10.0"
+version = "0.10.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "dnspython" },
     { name = "ifaddr" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/a8/8e/a68b686678c6c21e9d5a247d7b2849fd55e645179ebcd081889b53115854/aioice-0.10.0.tar.gz", hash = "sha256:25dfdcbacb89de0e2eac41e96a872499c37a9eb74fa22a0e92d8ac1a0a9141af", size = 44236 }
+sdist = { url = "https://files.pythonhosted.org/packages/95/a2/45dfab1d5a7f96c48595a5770379acf406cdf02a2cd1ac1729b599322b08/aioice-0.10.1.tar.gz", hash = "sha256:5c8e1422103448d171925c678fb39795e5fe13d79108bebb00aa75a899c2094a", size = 44304 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/77/07/45f3f2864a8a5c1e0bf8618802dcc1d85f901cc13506a1d9eb93d1d2cbcb/aioice-0.10.0-py3-none-any.whl", hash = "sha256:e8c91083cc7858471554370d9037118d66582e25be24f4c6ad9ced2c2ba44bbe", size = 24882 },
+    { url = "https://files.pythonhosted.org/packages/3b/58/af07dda649c22a1ae954ffb7aaaf4d4a57f1bf00ebdf62307affc0b8552f/aioice-0.10.1-py3-none-any.whl", hash = "sha256:f31ae2abc8608b1283ed5f21aebd7b6bd472b152ff9551e9b559b2d8efed79e9", size = 24872 },
 ]
 
 [[package]]
@@ -1482,32 +1482,39 @@ wheels = [
 
 [[package]]
 name = "pillow"
-version = "11.1.0"
+version = "11.2.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f3/af/c097e544e7bd278333db77933e535098c259609c4eb3b85381109602fb5b/pillow-11.1.0.tar.gz", hash = "sha256:368da70808b36d73b4b390a8ffac11069f8a5c85f29eff1f1b01bcf3ef5b2a20", size = 46742715 }
+sdist = { url = "https://files.pythonhosted.org/packages/af/cb/bb5c01fcd2a69335b86c22142b2bccfc3464087efb7fd382eee5ffc7fdf7/pillow-11.2.1.tar.gz", hash = "sha256:a64dd61998416367b7ef979b73d3a85853ba9bec4c2925f74e588879a58716b6", size = 47026707 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/dd/d6/2000bfd8d5414fb70cbbe52c8332f2283ff30ed66a9cde42716c8ecbe22c/pillow-11.1.0-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:e06695e0326d05b06833b40b7ef477e475d0b1ba3a6d27da1bb48c23209bf457", size = 3229968 },
-    { url = "https://files.pythonhosted.org/packages/d9/45/3fe487010dd9ce0a06adf9b8ff4f273cc0a44536e234b0fad3532a42c15b/pillow-11.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:96f82000e12f23e4f29346e42702b6ed9a2f2fea34a740dd5ffffcc8c539eb35", size = 3101806 },
-    { url = "https://files.pythonhosted.org/packages/e3/72/776b3629c47d9d5f1c160113158a7a7ad177688d3a1159cd3b62ded5a33a/pillow-11.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a3cd561ded2cf2bbae44d4605837221b987c216cff94f49dfeed63488bb228d2", size = 4322283 },
-    { url = "https://files.pythonhosted.org/packages/e4/c2/e25199e7e4e71d64eeb869f5b72c7ddec70e0a87926398785ab944d92375/pillow-11.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f189805c8be5ca5add39e6f899e6ce2ed824e65fb45f3c28cb2841911da19070", size = 4402945 },
-    { url = "https://files.pythonhosted.org/packages/c1/ed/51d6136c9d5911f78632b1b86c45241c712c5a80ed7fa7f9120a5dff1eba/pillow-11.1.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:dd0052e9db3474df30433f83a71b9b23bd9e4ef1de13d92df21a52c0303b8ab6", size = 4361228 },
-    { url = "https://files.pythonhosted.org/packages/48/a4/fbfe9d5581d7b111b28f1d8c2762dee92e9821bb209af9fa83c940e507a0/pillow-11.1.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:837060a8599b8f5d402e97197d4924f05a2e0d68756998345c829c33186217b1", size = 4484021 },
-    { url = "https://files.pythonhosted.org/packages/39/db/0b3c1a5018117f3c1d4df671fb8e47d08937f27519e8614bbe86153b65a5/pillow-11.1.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:aa8dd43daa836b9a8128dbe7d923423e5ad86f50a7a14dc688194b7be5c0dea2", size = 4287449 },
-    { url = "https://files.pythonhosted.org/packages/d9/58/bc128da7fea8c89fc85e09f773c4901e95b5936000e6f303222490c052f3/pillow-11.1.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:0a2f91f8a8b367e7a57c6e91cd25af510168091fb89ec5146003e424e1558a96", size = 4419972 },
-    { url = "https://files.pythonhosted.org/packages/5f/bb/58f34379bde9fe197f51841c5bbe8830c28bbb6d3801f16a83b8f2ad37df/pillow-11.1.0-cp311-cp311-win32.whl", hash = "sha256:c12fc111ef090845de2bb15009372175d76ac99969bdf31e2ce9b42e4b8cd88f", size = 2291201 },
-    { url = "https://files.pythonhosted.org/packages/3a/c6/fce9255272bcf0c39e15abd2f8fd8429a954cf344469eaceb9d0d1366913/pillow-11.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:fbd43429d0d7ed6533b25fc993861b8fd512c42d04514a0dd6337fb3ccf22761", size = 2625686 },
-    { url = "https://files.pythonhosted.org/packages/c8/52/8ba066d569d932365509054859f74f2a9abee273edcef5cd75e4bc3e831e/pillow-11.1.0-cp311-cp311-win_arm64.whl", hash = "sha256:f7955ecf5609dee9442cbface754f2c6e541d9e6eda87fad7f7a989b0bdb9d71", size = 2375194 },
-    { url = "https://files.pythonhosted.org/packages/95/20/9ce6ed62c91c073fcaa23d216e68289e19d95fb8188b9fb7a63d36771db8/pillow-11.1.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:2062ffb1d36544d42fcaa277b069c88b01bb7298f4efa06731a7fd6cc290b81a", size = 3226818 },
-    { url = "https://files.pythonhosted.org/packages/b9/d8/f6004d98579a2596c098d1e30d10b248798cceff82d2b77aa914875bfea1/pillow-11.1.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:a85b653980faad27e88b141348707ceeef8a1186f75ecc600c395dcac19f385b", size = 3101662 },
-    { url = "https://files.pythonhosted.org/packages/08/d9/892e705f90051c7a2574d9f24579c9e100c828700d78a63239676f960b74/pillow-11.1.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9409c080586d1f683df3f184f20e36fb647f2e0bc3988094d4fd8c9f4eb1b3b3", size = 4329317 },
-    { url = "https://files.pythonhosted.org/packages/8c/aa/7f29711f26680eab0bcd3ecdd6d23ed6bce180d82e3f6380fb7ae35fcf3b/pillow-11.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7fdadc077553621911f27ce206ffcbec7d3f8d7b50e0da39f10997e8e2bb7f6a", size = 4412999 },
-    { url = "https://files.pythonhosted.org/packages/c8/c4/8f0fe3b9e0f7196f6d0bbb151f9fba323d72a41da068610c4c960b16632a/pillow-11.1.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:93a18841d09bcdd774dcdc308e4537e1f867b3dec059c131fde0327899734aa1", size = 4368819 },
-    { url = "https://files.pythonhosted.org/packages/38/0d/84200ed6a871ce386ddc82904bfadc0c6b28b0c0ec78176871a4679e40b3/pillow-11.1.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:9aa9aeddeed452b2f616ff5507459e7bab436916ccb10961c4a382cd3e03f47f", size = 4496081 },
-    { url = "https://files.pythonhosted.org/packages/84/9c/9bcd66f714d7e25b64118e3952d52841a4babc6d97b6d28e2261c52045d4/pillow-11.1.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:3cdcdb0b896e981678eee140d882b70092dac83ac1cdf6b3a60e2216a73f2b91", size = 4296513 },
-    { url = "https://files.pythonhosted.org/packages/db/61/ada2a226e22da011b45f7104c95ebda1b63dcbb0c378ad0f7c2a710f8fd2/pillow-11.1.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:36ba10b9cb413e7c7dfa3e189aba252deee0602c86c309799da5a74009ac7a1c", size = 4431298 },
-    { url = "https://files.pythonhosted.org/packages/e7/c4/fc6e86750523f367923522014b821c11ebc5ad402e659d8c9d09b3c9d70c/pillow-11.1.0-cp312-cp312-win32.whl", hash = "sha256:cfd5cd998c2e36a862d0e27b2df63237e67273f2fc78f47445b14e73a810e7e6", size = 2291630 },
-    { url = "https://files.pythonhosted.org/packages/08/5c/2104299949b9d504baf3f4d35f73dbd14ef31bbd1ddc2c1b66a5b7dfda44/pillow-11.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:a697cd8ba0383bba3d2d3ada02b34ed268cb548b369943cd349007730c92bddf", size = 2626369 },
-    { url = "https://files.pythonhosted.org/packages/37/f3/9b18362206b244167c958984b57c7f70a0289bfb59a530dd8af5f699b910/pillow-11.1.0-cp312-cp312-win_arm64.whl", hash = "sha256:4dd43a78897793f60766563969442020e90eb7847463eca901e41ba186a7d4a5", size = 2375240 },
+    { url = "https://files.pythonhosted.org/packages/68/08/3fbf4b98924c73037a8e8b4c2c774784805e0fb4ebca6c5bb60795c40125/pillow-11.2.1-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:35ca289f712ccfc699508c4658a1d14652e8033e9b69839edf83cbdd0ba39e70", size = 3198450 },
+    { url = "https://files.pythonhosted.org/packages/84/92/6505b1af3d2849d5e714fc75ba9e69b7255c05ee42383a35a4d58f576b16/pillow-11.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:e0409af9f829f87a2dfb7e259f78f317a5351f2045158be321fd135973fff7bf", size = 3030550 },
+    { url = "https://files.pythonhosted.org/packages/3c/8c/ac2f99d2a70ff966bc7eb13dacacfaab57c0549b2ffb351b6537c7840b12/pillow-11.2.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d4e5c5edee874dce4f653dbe59db7c73a600119fbea8d31f53423586ee2aafd7", size = 4415018 },
+    { url = "https://files.pythonhosted.org/packages/1f/e3/0a58b5d838687f40891fff9cbaf8669f90c96b64dc8f91f87894413856c6/pillow-11.2.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b93a07e76d13bff9444f1a029e0af2964e654bfc2e2c2d46bfd080df5ad5f3d8", size = 4498006 },
+    { url = "https://files.pythonhosted.org/packages/21/f5/6ba14718135f08fbfa33308efe027dd02b781d3f1d5c471444a395933aac/pillow-11.2.1-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:e6def7eed9e7fa90fde255afaf08060dc4b343bbe524a8f69bdd2a2f0018f600", size = 4517773 },
+    { url = "https://files.pythonhosted.org/packages/20/f2/805ad600fc59ebe4f1ba6129cd3a75fb0da126975c8579b8f57abeb61e80/pillow-11.2.1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:8f4f3724c068be008c08257207210c138d5f3731af6c155a81c2b09a9eb3a788", size = 4607069 },
+    { url = "https://files.pythonhosted.org/packages/71/6b/4ef8a288b4bb2e0180cba13ca0a519fa27aa982875882392b65131401099/pillow-11.2.1-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:a0a6709b47019dff32e678bc12c63008311b82b9327613f534e496dacaefb71e", size = 4583460 },
+    { url = "https://files.pythonhosted.org/packages/62/ae/f29c705a09cbc9e2a456590816e5c234382ae5d32584f451c3eb41a62062/pillow-11.2.1-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:f6b0c664ccb879109ee3ca702a9272d877f4fcd21e5eb63c26422fd6e415365e", size = 4661304 },
+    { url = "https://files.pythonhosted.org/packages/6e/1a/c8217b6f2f73794a5e219fbad087701f412337ae6dbb956db37d69a9bc43/pillow-11.2.1-cp311-cp311-win32.whl", hash = "sha256:cc5d875d56e49f112b6def6813c4e3d3036d269c008bf8aef72cd08d20ca6df6", size = 2331809 },
+    { url = "https://files.pythonhosted.org/packages/e2/72/25a8f40170dc262e86e90f37cb72cb3de5e307f75bf4b02535a61afcd519/pillow-11.2.1-cp311-cp311-win_amd64.whl", hash = "sha256:0f5c7eda47bf8e3c8a283762cab94e496ba977a420868cb819159980b6709193", size = 2676338 },
+    { url = "https://files.pythonhosted.org/packages/06/9e/76825e39efee61efea258b479391ca77d64dbd9e5804e4ad0fa453b4ba55/pillow-11.2.1-cp311-cp311-win_arm64.whl", hash = "sha256:4d375eb838755f2528ac8cbc926c3e31cc49ca4ad0cf79cff48b20e30634a4a7", size = 2414918 },
+    { url = "https://files.pythonhosted.org/packages/c7/40/052610b15a1b8961f52537cc8326ca6a881408bc2bdad0d852edeb6ed33b/pillow-11.2.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:78afba22027b4accef10dbd5eed84425930ba41b3ea0a86fa8d20baaf19d807f", size = 3190185 },
+    { url = "https://files.pythonhosted.org/packages/e5/7e/b86dbd35a5f938632093dc40d1682874c33dcfe832558fc80ca56bfcb774/pillow-11.2.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:78092232a4ab376a35d68c4e6d5e00dfd73454bd12b230420025fbe178ee3b0b", size = 3030306 },
+    { url = "https://files.pythonhosted.org/packages/a4/5c/467a161f9ed53e5eab51a42923c33051bf8d1a2af4626ac04f5166e58e0c/pillow-11.2.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:25a5f306095c6780c52e6bbb6109624b95c5b18e40aab1c3041da3e9e0cd3e2d", size = 4416121 },
+    { url = "https://files.pythonhosted.org/packages/62/73/972b7742e38ae0e2ac76ab137ca6005dcf877480da0d9d61d93b613065b4/pillow-11.2.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0c7b29dbd4281923a2bfe562acb734cee96bbb129e96e6972d315ed9f232bef4", size = 4501707 },
+    { url = "https://files.pythonhosted.org/packages/e4/3a/427e4cb0b9e177efbc1a84798ed20498c4f233abde003c06d2650a6d60cb/pillow-11.2.1-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:3e645b020f3209a0181a418bffe7b4a93171eef6c4ef6cc20980b30bebf17b7d", size = 4522921 },
+    { url = "https://files.pythonhosted.org/packages/fe/7c/d8b1330458e4d2f3f45d9508796d7caf0c0d3764c00c823d10f6f1a3b76d/pillow-11.2.1-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:b2dbea1012ccb784a65349f57bbc93730b96e85b42e9bf7b01ef40443db720b4", size = 4612523 },
+    { url = "https://files.pythonhosted.org/packages/b3/2f/65738384e0b1acf451de5a573d8153fe84103772d139e1e0bdf1596be2ea/pillow-11.2.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:da3104c57bbd72948d75f6a9389e6727d2ab6333c3617f0a89d72d4940aa0443", size = 4587836 },
+    { url = "https://files.pythonhosted.org/packages/6a/c5/e795c9f2ddf3debb2dedd0df889f2fe4b053308bb59a3cc02a0cd144d641/pillow-11.2.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:598174aef4589af795f66f9caab87ba4ff860ce08cd5bb447c6fc553ffee603c", size = 4669390 },
+    { url = "https://files.pythonhosted.org/packages/96/ae/ca0099a3995976a9fce2f423166f7bff9b12244afdc7520f6ed38911539a/pillow-11.2.1-cp312-cp312-win32.whl", hash = "sha256:1d535df14716e7f8776b9e7fee118576d65572b4aad3ed639be9e4fa88a1cad3", size = 2332309 },
+    { url = "https://files.pythonhosted.org/packages/7c/18/24bff2ad716257fc03da964c5e8f05d9790a779a8895d6566e493ccf0189/pillow-11.2.1-cp312-cp312-win_amd64.whl", hash = "sha256:14e33b28bf17c7a38eede290f77db7c664e4eb01f7869e37fa98a5aa95978941", size = 2676768 },
+    { url = "https://files.pythonhosted.org/packages/da/bb/e8d656c9543276517ee40184aaa39dcb41e683bca121022f9323ae11b39d/pillow-11.2.1-cp312-cp312-win_arm64.whl", hash = "sha256:21e1470ac9e5739ff880c211fc3af01e3ae505859392bf65458c224d0bf283eb", size = 2415087 },
+    { url = "https://files.pythonhosted.org/packages/a4/ad/2613c04633c7257d9481ab21d6b5364b59fc5d75faafd7cb8693523945a3/pillow-11.2.1-pp311-pypy311_pp73-macosx_10_15_x86_64.whl", hash = "sha256:80f1df8dbe9572b4b7abdfa17eb5d78dd620b1d55d9e25f834efdbee872d3aed", size = 3181734 },
+    { url = "https://files.pythonhosted.org/packages/a4/fd/dcdda4471ed667de57bb5405bb42d751e6cfdd4011a12c248b455c778e03/pillow-11.2.1-pp311-pypy311_pp73-macosx_11_0_arm64.whl", hash = "sha256:ea926cfbc3957090becbcbbb65ad177161a2ff2ad578b5a6ec9bb1e1cd78753c", size = 2999841 },
+    { url = "https://files.pythonhosted.org/packages/ac/89/8a2536e95e77432833f0db6fd72a8d310c8e4272a04461fb833eb021bf94/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:738db0e0941ca0376804d4de6a782c005245264edaa253ffce24e5a15cbdc7bd", size = 3437470 },
+    { url = "https://files.pythonhosted.org/packages/9d/8f/abd47b73c60712f88e9eda32baced7bfc3e9bd6a7619bb64b93acff28c3e/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9db98ab6565c69082ec9b0d4e40dd9f6181dab0dd236d26f7a50b8b9bfbd5076", size = 3460013 },
+    { url = "https://files.pythonhosted.org/packages/f6/20/5c0a0aa83b213b7a07ec01e71a3d6ea2cf4ad1d2c686cc0168173b6089e7/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:036e53f4170e270ddb8797d4c590e6dd14d28e15c7da375c18978045f7e6c37b", size = 3527165 },
+    { url = "https://files.pythonhosted.org/packages/58/0e/2abab98a72202d91146abc839e10c14f7cf36166f12838ea0c4db3ca6ecb/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:14f73f7c291279bd65fda51ee87affd7c1e097709f7fdd0188957a16c264601f", size = 3571586 },
+    { url = "https://files.pythonhosted.org/packages/21/2c/5e05f58658cf49b6667762cca03d6e7d85cededde2caf2ab37b81f80e574/pillow-11.2.1-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:208653868d5c9ecc2b327f9b9ef34e0e42a4cdd172c2988fd81d62d2bc9bc044", size = 2674751 },
 ]
 
 [[package]]
@@ -4751,15 +4758,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.25.1"
+version = "2.26.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/85/2f/a0f732270cc7c1834f5ec45539aec87c360d5483a8bd788217a9102ccfbd/sentry_sdk-2.25.1.tar.gz", hash = "sha256:f9041b7054a7cf12d41eadabe6458ce7c6d6eea7a97cfe1b760b6692e9562cf0", size = 322190 }
+sdist = { url = "https://files.pythonhosted.org/packages/f0/e2/f8ebb2086046d89cb692f12cc7f9d84e02669d19e263f9b0347553ac6e8c/sentry_sdk-2.26.0.tar.gz", hash = "sha256:88643459716dd0c6e412e5141fcc94ce3b5725e4b6b312210b91332b3b46a0e2", size = 322738 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/96/b6/84049ab0967affbc7cc7590d86ae0170c1b494edb69df8786707100420e5/sentry_sdk-2.25.1-py2.py3-none-any.whl", hash = "sha256:60b016d0772789454dc55a284a6a44212044d4a16d9f8448725effee97aaf7f6", size = 339851 },
+    { url = "https://files.pythonhosted.org/packages/dd/da/195136b1113e5bc34f31ba04a345bc15c1e66a4eacfc1b317de111abe8c5/sentry_sdk-2.26.0-py2.py3-none-any.whl", hash = "sha256:82496fc359296dac57ec923300b18cc1f14a1279c1e7108d46d35dbb4cf8f5f8", size = 340184 },
 ]
 
 [[package]]

From abad7649d6395023ebf5443a836d3cc9c9dbfcfb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Apr 2025 17:17:59 -0700
Subject: [PATCH 38/91] Rename experimental long (#35011)

* now alpha long

* fix

* rename param

* thought i did this

* debug

* debug

* more

* more

* moar

* Revert "moar"

This reverts commit e347106246583982e1be206485ad4d8eb944f817.

* Revert "more"

This reverts commit 0746e6d2e400ce1715614c62af84a9680c4d65c1.

* Revert "more"

This reverts commit 0db5a8792c01bb2d687f9152e6ba37fb76d4a453.

* Revert "debug"

This reverts commit 72f235b13727980e4331ff487998ddc7c7f7fb63.

* Revert "debug"

This reverts commit 7871b69f8c1bdffed386c2baac99542fcc50f7eb.
---
 common/params_keys.h                            |  2 +-
 opendbc_repo                                    |  2 +-
 selfdrive/car/card.py                           |  4 ++--
 selfdrive/car/tests/test_car_interfaces.py      |  2 +-
 selfdrive/car/tests/test_models.py              | 10 +++++-----
 selfdrive/debug/set_car_params.py               |  2 +-
 selfdrive/selfdrived/selfdrived.py              |  4 ++--
 selfdrive/test/process_replay/process_replay.py |  4 ++--
 selfdrive/ui/qt/offroad/developer_panel.cc      |  8 ++++----
 selfdrive/ui/qt/offroad/settings.cc             |  2 +-
 selfdrive/ui/qt/util.cc                         |  4 ++--
 selfdrive/ui/tests/test_ui/run.py               |  2 +-
 tools/sim/bridge/common.py                      |  2 +-
 13 files changed, 24 insertions(+), 24 deletions(-)

diff --git a/common/params_keys.h b/common/params_keys.h
index e630792357..ca779a5b5c 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
+    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/opendbc_repo b/opendbc_repo
index d65fa99e2a..3b33a71a2b 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d65fa99e2aa60a6d98cdfb5acb912665e9e6447e
+Subproject commit 3b33a71a2bf08b57dd5b2bf77e26cc376dcd7cc9
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 607f5590c4..378543164c 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -89,7 +89,7 @@ class Car:
         if len(can.can) > 0:
           break
 
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
@@ -98,7 +98,7 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index e0cd5a1e91..92c7ff8f1c 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -39,7 +39,7 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         experimental_long=args['experimental_long'], docs=False)
+                                         alpha_long=args['alpha_long'], docs=False)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params)
     assert car_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 906fa99320..53f2bb586d 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -78,7 +78,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.elm_frame = None
     cls.car_safety_mode_frame = None
     cls.fingerprint = gen_empty_fingerprint()
-    experimental_long = False
+    alpha_long = False
     for msg in lr:
       if msg.which() == "can":
         can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
@@ -91,7 +91,7 @@ class TestCarModelBase(unittest.TestCase):
       elif msg.which() == "carParams":
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
-          experimental_long = True
+          alpha_long = True
         if cls.platform is None:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -113,7 +113,7 @@ class TestCarModelBase(unittest.TestCase):
           cls.car_safety_mode_frame = len(can_msgs)
 
     assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
-    return car_fw, can_msgs, experimental_long
+    return car_fw, can_msgs, alpha_long
 
   @classmethod
   def get_testing_data(cls):
@@ -146,13 +146,13 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.platform}")
 
-    car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.platform
 
diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py
index 6060dfbc36..aec30b4d74 100755
--- a/selfdrive/debug/set_car_params.py
+++ b/selfdrive/debug/set_car_params.py
@@ -15,7 +15,7 @@ if __name__ == "__main__":
   else:
     CP = car.CarParams.new_message()
     CP.openpilotLongitudinalControl = True
-    CP.experimentalLongitudinalAvailable = False
+    CP.alphaLongitudinalAvailable = False
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index c2e8259135..face7dab29 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -89,8 +89,8 @@ class SelfdriveD:
     car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
-      self.params.remove("ExperimentalLongitudinalEnabled")
+    if not self.CP.alphaLongitudinalAvailable:
+      self.params.remove("AlphaLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 9715e48615..6139846322 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -363,7 +363,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -777,7 +777,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
     if CP.openpilotLongitudinalControl:
-      params_dict["ExperimentalLongitudinalEnabled"] = True
+      params_dict["AlphaLongitudinalEnabled"] = True
 
     if CP.notCar:
       params_dict["JoystickDebugMode"] = True
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index 365aec09c4..a095228da2 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -26,7 +26,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   experimentalLongitudinalToggle = new ParamControl(
-    "ExperimentalLongitudinalEnabled",
+    "AlphaLongitudinalEnabled",
     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)."))
@@ -68,8 +68,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     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");
+    if (!CP.getAlphaLongitudinalAvailable() || is_release) {
+      params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
     }
 
@@ -78,7 +78,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
      * - is not a release branch, and
      * - the car supports experimental longitudinal control (alpha)
      */
-    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+    experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
   } else {
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 4d0516bda1..7a79413e2d 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -152,7 +152,7 @@ void TogglesPanel::updateToggles() {
 
       QString long_desc = unavailable + " " + \
                           tr("openpilot longitudinal control may come in a future update.");
-      if (CP.getExperimentalLongitudinalAvailable()) {
+      if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 399a1a98d7..ff381fe39c 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) {
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
-  return car_params.getExperimentalLongitudinalAvailable()
-             ? Params().getBool("ExperimentalLongitudinalEnabled")
+  return car_params.getAlphaLongitudinalAvailable()
+             ? Params().getBool("AlphaLongitudinalEnabled")
              : car_params.getOpenpilotLongitudinalControl();
 }
 
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 35323cf000..c830680aa6 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -56,7 +56,7 @@ def setup_settings_firehose(click, pm: PubMaster):
 
 def setup_settings_developer(click, pm: PubMaster):
   CP = car.CarParams()
-  CP.experimentalLongitudinalAvailable = True
+  CP.alphaLongitudinalAvailable = True
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings_device(click, pm)
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index bf3be5193d..69dec173ca 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("ExperimentalLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True)
 
     self.rk = Ratekeeper(100, None)
 

From 0a401620393798753afb6068b41e9faf630141d4 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 14 Apr 2025 18:36:55 -0700
Subject: [PATCH 39/91] Temporary disable UI preview from CI (#35018)

disable
---
 .github/workflows/selfdrive_tests.yaml | 1 +
 .github/workflows/ui_preview.yaml      | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index b42dc7da26..25fc258634 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -331,6 +331,7 @@ jobs:
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    if: false  # FIXME: FrameReader is broken on CI runners
     steps:
       - uses: actions/checkout@v4
         with:
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index 4e8338c483..9ec7a59223 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -19,7 +19,8 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    #if: github.repository == 'commaai/openpilot'
+    if: false  # FIXME: FrameReader is broken on CI runners
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20

From 4c8ed8030447948d33e3178b112d73009f14afb5 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 15 Apr 2025 00:04:57 -0400
Subject: [PATCH 40/91] Update Python packages (#819)

---
 opendbc_repo | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc_repo b/opendbc_repo
index 7942a631bd..d2002787f6 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7942a631bd4ff84a6a20ad36a16a36861eaf2543
+Subproject commit d2002787f60362c4678da24a5bed69f45d17499b

From d7a5661ffe214f9f018e2cb889dae2292c1dd7d8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 14 Apr 2025 21:08:45 -0700
Subject: [PATCH 41/91] Fix possible CAN ignition overlap due to incorrect
 counter tracking (#35019)

* fix-rivian-ign

* bump
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 0dc95a89dd..d319ea2bba 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 0dc95a89dd7df1e27c36d7560c39666151af81df
+Subproject commit d319ea2bbae4ee0f5dea12d7ca5456cd34288d55

From a867dea6810ffd74bf68142e631a091bf0e76a4b Mon Sep 17 00:00:00 2001
From: Nayan <nayan8teen@gmail.com>
Date: Tue, 15 Apr 2025 12:12:08 -0400
Subject: [PATCH 42/91] UI: Bugfix Max Time Offroad (#820)

bugfixes

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 selfdrive/ui/sunnypilot/qt/widgets/controls.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index bb3cec88f9..d1edaf8621 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -418,12 +418,12 @@ class OptionControlSP : public AbstractControlSP_SELECTOR {
 private:
   bool isInlineLayout;
   QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
-  
+
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
-  
+
   int getParamValue() {
     const auto param_value = QString::fromStdString(params.get(key));
     const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
@@ -490,6 +490,8 @@ public:
       if (i == 0) {
         optionSelectorLayout->addWidget(&label, 0, Qt::AlignCenter);
       }
+      button->setEnabled((i == 0) ? !(value <= range.min_value) : !(value >= range.max_value));
+      button->setFocusPolicy(Qt::NoFocus); // This prevents unintended scroll due to loss of focus when the button gets disabled based on min/max values
       button_group->addButton(button, i);
 
       QObject::connect(button, &QPushButton::clicked, [=]() {

From 224f43b6fa41db34116b588252e9dbeb25e2fc49 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 15 Apr 2025 21:53:29 +0200
Subject: [PATCH 43/91] CI: Improve `dev-c3-new` auto build (#825)

* force commit to force PR

* ci: add job to manage PR labels and remove trust label on new commits

* Add pull request trigger

* empty commit to test

* ci: update pull request label management logic and remove FORCE_RUN flag

* ci: update trust label management to use TRUST_FORK_PR_LABEL

* ci: update workflow to manage PR labels and adjust trigger conditions

* ci: rename jobs in workflow for consistency and clarity

* ci: add unleash-nightly-squash branch to workflow

* ci: add checkout step with GITHUB_TOKEN to workflow

* force wait

* what happens if negated the wait

* ci: add 'Wait for Tests' action to monitor workflow execution

* ci: update wait-for-tests action conditions and cleanup

* ci: refine conditions for managing PR labels and waiting for tests

* ci: enhance PR label conditions for workflow execution

* Cant use env on if

* maybe

* ci: update pull request workflow conditions and cleanup

* Missing end of line

* ci: rename workflow and update job name for clarity

* Cleaning

* ci: refine conditions for pull request handling in workflow

* ci: update handling of TRUST_FORK_LABEL in PR processing

* ci: remove fork trust warning from PR processing

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 .../sunnypilot-master-dev-c3-prep.yaml        | 83 ++++++++++++++++++-
 .github/workflows/wait-for-action/action.yaml | 44 ++++++++++
 release/ci/squash_and_merge_prs.py            | 10 ---
 3 files changed, 123 insertions(+), 14 deletions(-)
 create mode 100644 .github/workflows/wait-for-action/action.yaml

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index f6b7497420..b252f42d7d 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -1,13 +1,23 @@
-name: Nightly Branch Reset and PR Squash
+name: Build dev-c3-new
 
 env:
   DEFAULT_SOURCE_BRANCH: "master-new"
-  DEFAULT_TARGET_BRANCH: "nightly"
+  DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
+  TRUST_FORK_PR_LABEL: "trust-fork-pr"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
 on:
+  push:
+    branches:
+      - master
+      - master-new    
+  pull_request_target:
+    types: [ synchronize, opened, labeled ]  
+    branches:    
+      - 'master'        
+      - 'master-new'            
   workflow_dispatch:
     inputs:
       source_branch:
@@ -20,18 +30,83 @@ on:
         required: true
         default: 'master-dev-c3-new'
         type: string
-#  schedule:
-#     - cron: '0 0 * * *'  # Run at midnight UTC for nightly
 
 jobs:
+  manage-pr-labels:
+    name: Remove trust-fork-pr label if present
+    runs-on: ubuntu-latest
+    if: (github.event.pull_request.head.repo.fork && (github.event_name == 'pull_request_target' && github.event.action == 'synchronize'))
+    steps:
+      - name: Check if PR has dev-c3 label
+        id: check-labels
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber
+            });
+            
+            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
+            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
+            
+            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
+            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
+            
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
+
+      - name: Remove trust-fork-pr label if present
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.TRUST_FORK_PR_LABEL
+            });
+            
+            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
+            
+            // Add a comment to the PR
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
+            });
+
   reset-and-squash:
     runs-on: ubuntu-latest
+    if: (
+            (github.event_name == 'workflow_dispatch')
+            || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+            || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+        )
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0  # Fetch all history for all branches
           token: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Wait for Tests
+        uses: ./.github/workflows/wait-for-action # Path to where you place the action
+        if: (
+                (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
+                || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            )
+        with:
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
       - name: Configure Git
         run: |
           git config --global user.name 'github-actions[bot]'
diff --git a/.github/workflows/wait-for-action/action.yaml b/.github/workflows/wait-for-action/action.yaml
new file mode 100644
index 0000000000..574ef15186
--- /dev/null
+++ b/.github/workflows/wait-for-action/action.yaml
@@ -0,0 +1,44 @@
+name: 'Wait for Tests'
+description: 'Action to wait for workflow tests to start and complete'
+inputs:
+  workflow:
+    description: 'The workflow file name to monitor'
+    required: true
+    default: 'selfdrive_tests.yaml'
+  branch:
+    description: 'The branch to monitor (defaults to current branch)'
+    required: false
+    default: ''
+  github-token:
+    description: 'GitHub token for API access'
+    required: true
+  wait-time:
+    description: 'Initial sleep time in seconds before monitoring starts'
+    required: false
+    default: '30'
+  should-wait-for-start:
+    description: 'Whether to wait for tests to start'
+    required: false
+    default: false
+
+runs:
+  using: 'composite'
+  steps:
+    - name: Wait for tests to start
+      if: inputs.should-wait-for-start == 'true'
+      shell: bash
+      run: |
+        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
+        sleep ${{ inputs.wait-time }}
+
+    - name: Wait for tests to finish
+      shell: bash
+      run: |
+        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
+        
+        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
+        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
+        echo "Watching run ID: $RUN_ID"
+        gh run watch "$RUN_ID"
+      env:
+        GITHUB_TOKEN: ${{ inputs.github-token }}
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 6d8f70f349..64fa325512 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -118,19 +118,9 @@ def process_pr(pr_data, source_branch, target_branch, squash_script_path):
         origin = "origin" if not head_repository.get('isFork', False) else head_repository.get('nameWithOwner', 'origin')
 
         if is_fork and trust_fork:
-          print(f"Removing label `{TRUST_FORK_LABEL}` from PR #{pr_number} as it is being processed")
-          subprocess.run(['gh', 'pr', 'edit', str(pr_number), '--remove-label', TRUST_FORK_LABEL], check=True)
-          pr_comments.append(f"ℹ️️ This PR is from a fork. The `{TRUST_FORK_LABEL}` label was removed as it is being processed right now.")
           print(f"Adding remote {origin} for PR #{pr_number}")
           subprocess.run(['git', 'remote', 'add', origin, head_repository.get('url')], check=False)
 
-        if is_fork and not trust_fork:
-          pr_comments.append(
-            f"⚠️ This PR is from a fork. Please add the `{TRUST_FORK_LABEL}` label to include it in the squash." +
-            "\n**Note**: The label is removed after the squash is done and must be added again for the next execution for security reasons."
-          )
-          continue
-
         if not is_valid:
           print(f"Warning: {skip_reason} for PR #{pr_number}, skipping")
           pr_comments.append(f"⚠️ This PR was skipped in the automated `{target_branch}` squash because **{skip_reason}**.")

From 702a75530763d59d5425b956caff678e6fbe72fc Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Wed, 16 Apr 2025 12:05:44 +0200
Subject: [PATCH 44/91] CI: Update PR list query to exclude draft pull requests
 (#829)

---
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index b252f42d7d..1246b96780 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -195,7 +195,7 @@ jobs:
                   }
                 }
               }
-            }' -F label="is:pr is:open label:${PR_LABEL} sort:created-asc")
+            }' -F label="is:pr is:open label:${PR_LABEL} draft:false sort:created-asc")
 
           echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
         env:

From 60da5dd39a767e1f6515c1adc0ebbe146867acd3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 17 Apr 2025 00:35:30 -0700
Subject: [PATCH 45/91] lagd: check sensors valid (#35027)

* Check if sensors valid

* Fix test

* Fix static

* Constants

* time buffer for pose valid

* Fix static
---
 selfdrive/locationd/lagd.py           | 38 ++++++++++++++++++++-------
 selfdrive/locationd/test/test_lagd.py | 10 ++++---
 2 files changed, 34 insertions(+), 14 deletions(-)

diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 5ce82309ea..b52a658d01 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -21,8 +21,11 @@ MIN_OKAY_WINDOW_SEC = 25.0
 MIN_RECOVERY_BUFFER_SEC = 2.0
 MIN_VEGO = 15.0
 MIN_ABS_YAW_RATE = np.radians(1.0)
+MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
 MAX_LAG = 1.0
+MAX_LAT_ACCEL = 2.0
+MAX_LAT_ACCEL_DIFF = 0.6
 
 
 def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
@@ -139,7 +142,8 @@ class LateralLagEstimator:
   def __init__(self, CP: car.CarParams, dt: float,
                block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
                window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
-               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC):
+               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF):
     self.dt = dt
     self.window_sec = window_sec
     self.okay_window_sec = okay_window_sec
@@ -151,6 +155,8 @@ class LateralLagEstimator:
     self.min_vego = min_vego
     self.min_yr = min_yr
     self.min_ncc = min_ncc
+    self.max_lat_accel = max_lat_accel
+    self.max_lat_accel_diff = max_lat_accel_diff
 
     self.t = 0.0
     self.lat_active = False
@@ -159,10 +165,13 @@ class LateralLagEstimator:
     self.desired_curvature = 0.0
     self.v_ego = 0.0
     self.yaw_rate = 0.0
+    self.yaw_rate_std = 0.0
+    self.pose_valid = False
 
     self.last_lat_inactive_t = 0.0
     self.last_steering_pressed_t = 0.0
     self.last_steering_saturated_t = 0.0
+    self.last_pose_invalid_t = 0.0
     self.last_estimate_t = 0.0
 
     self.calibrator = PoseCalibrator()
@@ -212,7 +221,9 @@ class LateralLagEstimator:
     elif which == "livePose":
       device_pose = Pose.from_live_pose(msg)
       calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
-      self.yaw_rate = calibrated_pose.angular_velocity.z
+      self.yaw_rate = calibrated_pose.angular_velocity.yaw
+      self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std
+      self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
     self.t = t
 
   def points_enough(self):
@@ -222,23 +233,30 @@ class LateralLagEstimator:
     return self.points.num_okay >= int(self.okay_window_sec / self.dt)
 
   def update_points(self):
+    la_desired = self.desired_curvature * self.v_ego * self.v_ego
+    la_actual_pose = self.yaw_rate * self.v_ego
+
+    fast = self.v_ego > self.min_vego
+    turning = np.abs(self.yaw_rate) >= self.min_yr
+    sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK
+    la_valid = np.abs(la_actual_pose) <= self.max_lat_accel and np.abs(la_desired - la_actual_pose) <= self.max_lat_accel_diff
+    calib_valid = self.calibrator.calib_valid
+
     if not self.lat_active:
       self.last_lat_inactive_t = self.t
     if self.steering_pressed:
       self.last_steering_pressed_t = self.t
     if self.steering_saturated:
       self.last_steering_saturated_t = self.t
+    if not sensors_valid or not la_valid:
+      self.last_pose_invalid_t = self.t
 
-    la_desired = self.desired_curvature * self.v_ego * self.v_ego
-    la_actual_pose = self.yaw_rate * self.v_ego
-
-    fast = self.v_ego > self.min_vego
-    turning = np.abs(self.yaw_rate) >= self.min_yr
-    has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated
+    has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated, !sensors/la_valid
       self.t - last_t >= self.min_recovery_buffer_sec
-      for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t]
+      for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t, self.last_pose_invalid_t]
     )
-    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered
+    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \
+           fast and turning and has_recovered and calib_valid and sensors_valid and la_valid
 
     self.points.update(self.t, la_desired, la_actual_pose, okay)
 
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index 53af2d2573..bd5cfd6201 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -3,7 +3,7 @@ import numpy as np
 import time
 import pytest
 
-from cereal import messaging
+from cereal import messaging, log
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
                                                BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
@@ -23,8 +23,8 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti
 
   for i in range(n_frames):
     t = i * estimator.dt
-    desired_la = np.cos(t)
-    actual_la = np.cos(t - lag_frames * estimator.dt)
+    desired_la = np.cos(t) * 0.1
+    actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1
 
     # if sample is masked out, set it to desired value (no lag)
     rejected = random.uniform(0, 1) < rejection_threshold
@@ -41,7 +41,9 @@ def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejecti
       (t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
                                 velocityDevice=ZeroMock(),
                                 accelerationDevice=ZeroMock(),
-                                angularVelocityDevice=ZeroMock(z=actual_yr))),
+                                angularVelocityDevice=ZeroMock(z=actual_yr, valid=True),
+                                posenetOK=True, inputsOK=True)),
+      (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
     ]
     for t, w, m in msgs:
       estimator.handle_log(t, w, m)

From bdcc9d579fe3756ea86add06cd909ae5a7a80dc8 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 17 Apr 2025 13:03:07 -0400
Subject: [PATCH 46/91] Revert "DM: Enforce monitoring of MADS state in driver
 monitoring" (#830)

Revert "DM: Enforce monitoring of MADS state in driver monitoring (#818)"

This reverts commit 3615b1a20371c8e074f591030fb56c770db7c08c.
---
 selfdrive/monitoring/dmonitoringd.py | 3 +--
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index d0d28ebac1..f137b406b4 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -10,8 +10,7 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
-                            'selfdriveStateSP'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 76a07b079d..337be3a2ae 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled
+      op_engaged=sm['selfdriveState'].enabled
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.enabled,
+      op_engaged=sm['selfdriveState'].enabled,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From 86a390780e60736569edf6ad3873d961a4f712f1 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 17 Apr 2025 13:31:43 -0400
Subject: [PATCH 47/91] DM: Enforce monitoring of MADS state in driver
 monitoring (#831)

* DM: Enforce monitoring of MADS state in driver monitoring

Added `selfdriveStateSP.mads.enabled` to track MADS engagement. This ensures monitoring logic accounts for MADS alongside the existing selfdrive state checks, improving feature integration and event handling.

* how

* okay, only when active
---
 selfdrive/monitoring/dmonitoringd.py | 3 ++-
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index f137b406b4..d0d28ebac1 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -10,7 +10,8 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2'], poll='driverStateV2')
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
+                            'selfdriveStateSP'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 337be3a2ae..0ff7a52a92 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled,
+      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From c933914f8679836f2b7a5b733a90086b266d5bc7 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Thu, 17 Apr 2025 23:11:19 +0100
Subject: [PATCH 48/91] ui(raylib): update spinner progress bar to match Qt
 (#35028)

---
 system/ui/spinner.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 9809307474..951c6f697e 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -13,6 +13,7 @@ ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
 MARGIN = 200
 TEXTURE_SIZE = 360
 FONT_SIZE = 80
+DARKGRAY = (55, 55, 55, 255)
 
 
 def clamp(value, min_value, max_value):
@@ -57,10 +58,10 @@ class Spinner:
       if text.isdigit():
         progress = clamp(int(text), 0, 100)
         bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY)
+        rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
 
         bar.width *= progress / 100.0
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE)
+        rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
       else:
         text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
         rl.draw_text_ex(gui_app.font(), text,

From 06a9483a24d9d5e9fa2b32222d77c89e9ea16148 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 17 Apr 2025 16:49:30 -0700
Subject: [PATCH 49/91] lagd: estimate std (#35009)

* Std

* Fix static

* Refactor

* Assert std zero
---
 cereal/log.capnp                      |  1 +
 selfdrive/locationd/lagd.py           | 39 ++++++++++++++++++++-------
 selfdrive/locationd/test/test_lagd.py |  2 ++
 3 files changed, 33 insertions(+), 9 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 797c2cd8ac..c624eb0052 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2284,6 +2284,7 @@ struct LiveDelayData {
   status @2 :Status;
 
   lateralDelayEstimate @3 :Float32;
+  lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
 
   enum Status {
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index b52a658d01..0a7c71a7ea 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -24,6 +24,7 @@ MIN_ABS_YAW_RATE = np.radians(1.0)
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
 MAX_LAG = 1.0
+MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
 
@@ -127,13 +128,23 @@ class BlockAverage:
       self.block_idx = (self.block_idx + 1) % self.num_blocks
       self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)
 
-  def get(self) -> tuple[float, float]:
+  def get(self) -> tuple[float, float, float, float]:
     valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
     valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
 
-    valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) if len(valid_block_idx) > 0 else float('nan')
-    current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) if len(valid_and_current_idx) > 0 else float('nan')
-    return valid_mean, current_mean
+    if len(valid_block_idx) > 0:
+      valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item())
+      valid_std = float(np.std(self.values[valid_block_idx], axis=0).item())
+    else:
+      valid_mean, valid_std = float('nan'), float('nan')
+
+    if len(valid_and_current_idx) > 0:
+      current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item())
+      current_std = float(np.std(self.values[valid_and_current_idx], axis=0).item())
+    else:
+      current_mean, current_std = float('nan'), float('nan')
+
+    return valid_mean, valid_std, current_mean, current_std
 
 
 class LateralLagEstimator:
@@ -190,17 +201,27 @@ class LateralLagEstimator:
 
     liveDelay = msg.liveDelay
 
-    valid_mean_lag, current_mean_lag = self.block_avg.get()
-    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag):
-      liveDelay.status = log.LiveDelayData.Status.estimated
-      liveDelay.lateralDelay = valid_mean_lag
+    valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+      if valid_std > MAX_LAG_STD:
+        liveDelay.status = log.LiveDelayData.Status.invalid
+      else:
+        liveDelay.status = log.LiveDelayData.Status.estimated
     else:
       liveDelay.status = log.LiveDelayData.Status.unestimated
+
+    if liveDelay.status == log.LiveDelayData.Status.estimated:
+      liveDelay.lateralDelay = valid_mean_lag
+    else:
       liveDelay.lateralDelay = self.initial_lag
-    if not np.isnan(current_mean_lag):
+
+    if not np.isnan(current_mean_lag) and not np.isnan(current_std):
       liveDelay.lateralDelayEstimate = current_mean_lag
+      liveDelay.lateralDelayEstimateStd = current_std
     else:
       liveDelay.lateralDelayEstimate = self.initial_lag
+      liveDelay.lateralDelayEstimateStd = 0.0
+
     liveDelay.validBlocks = self.block_avg.valid_blocks
     if debug:
       liveDelay.points = self.block_avg.values.flatten().tolist()
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index bd5cfd6201..13aea60a26 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -113,6 +113,7 @@ class TestLagd:
         assert msg.liveDelay.status == 'estimated'
         assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
         assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
         assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
 
   def test_estimator_masking(self, mocker):
@@ -121,6 +122,7 @@ class TestLagd:
     process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
     msg = estimator.get_msg(True)
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
 
   @pytest.mark.skipif(PC, reason="only on device")
   @pytest.mark.timeout(60)

From a4cdc96a99be6a2da574d3327f7e76fbd6f63dd3 Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Thu, 17 Apr 2025 16:58:00 -0700
Subject: [PATCH 50/91] update

---
 cereal/log.capnp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index c624eb0052..a5828d61cb 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -1174,6 +1174,8 @@ struct ModelDataV2 {
 
   struct Action {
     desiredCurvature @0 :Float32;
+    desiredAcceleration @1 :Float32;
+    shouldStop @2 :Bool;
   }
 }
 

From 4f913f0cfba188f95bc565e225c41f842168a982 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Fri, 18 Apr 2025 01:11:22 +0100
Subject: [PATCH 51/91] ui(raylib): fix typos (#35030)

---
 system/ui/lib/application.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index fd1ad52068..470396bbc7 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -73,7 +73,7 @@ class GuiApplication:
 
     for font in self._fonts.values():
       rl.unload_font(font)
-    self._fonts = []
+    self._fonts = {}
 
     rl.close_window()
 
@@ -90,8 +90,8 @@ class GuiApplication:
       rl.end_drawing()
       self._monitor_fps()
 
-  def font(self, font_wight: FontWeight=FontWeight.NORMAL):
-    return self._fonts[font_wight]
+  def font(self, font_weight: FontWeight=FontWeight.NORMAL):
+    return self._fonts[font_weight]
 
   @property
   def width(self):

From b42ec33a6375e831f11ca88f5d92c1f0d14efa64 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 17 Apr 2025 17:59:15 -0700
Subject: [PATCH 52/91] Update modeld action logic (#35032)

* add action logic

* magic numbers

* unused

* plot accel

* more changes
---
 selfdrive/controls/lib/drive_helpers.py       | 18 +++++++-
 .../controls/lib/longitudinal_planner.py      | 21 +---------
 selfdrive/modeld/fill_model_msg.py            |  9 ++--
 selfdrive/modeld/modeld.py                    | 42 ++++++++++++++++---
 selfdrive/test/process_replay/model_replay.py |  1 +
 5 files changed, 62 insertions(+), 29 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 41384abae8..9958755577 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,7 +1,7 @@
 import numpy as np
 from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
@@ -43,3 +43,19 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
     vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
+
+
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+  if len(speeds) == len(t_idxs):
+    v_now = speeds[0]
+    a_now = accels[0]
+    v_target = np.interp(action_t, t_idxs, speeds)
+    a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
+  return a_target, should_stop
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c7a2295a5f..8cbf0beee9 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -48,23 +48,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
-  if len(speeds) == CONTROL_N:
-    v_now = speeds[0]
-    a_now = accels[0]
-
-    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
-  else:
-    v_target = 0.0
-    v_target_1sec = 0.0
-    a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
-  return a_target, should_stop
-
-
 class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
@@ -176,7 +159,7 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
+    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
 
     for idx in range(2):
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 9dc2641c9b..a91c6395c7 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightProb = lane_line_probs[2]
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool) -> None:
@@ -71,7 +71,8 @@ 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
-  driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  driving_model_data.action = action
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -98,8 +99,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
-  # lateral planning
-  modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  # action
+  modelV2.action = action
 
   # times at X_IDXS of edges and lines aren't used
   LINE_T_IDXS: list[float] = []
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1e557942fe..f5007273ec 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -21,17 +21,20 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 
+
+
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -40,6 +43,30 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
+LAT_SMOOTH_SECONDS = 0.0
+LONG_SMOOTH_SECONDS = 0.0
+
+def smooth_value(val, prev_val, tau):
+  alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val
+
+
+def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                          lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                     plan[:,Plan.ACCELERATION][:,0],
+                                                     ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+
+    desired_curvature = model_output['desired_curvature'][0, 0]
+    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                  desiredAcceleration=float(desired_accel),
+                                  shouldStop=bool(should_stop))
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -221,7 +248,10 @@ def main(demo=False):
   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
+  # TODO Move smooth seconds to action function
+  lat_delay = CP.steerActuatorDelay + .2 + LAT_SMOOTH_SECONDS
+  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -263,7 +293,7 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -306,7 +336,9 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 36398af8ca..af626e2da9 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -64,6 +64,7 @@ def generate_report(proposed, master, tmp, commit):
   ModelV2_Plots = zl([
                      (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
                      (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
+                     (lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"),
                      (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
                      (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
                      (lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),

From 15326c2d301427ce525bce464d8d1ca84fd3c4af Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Thu, 17 Apr 2025 18:37:48 -0700
Subject: [PATCH 53/91] lagd: check for validity of the estimate when restoring
 state (#35034)

Do not restore if invalid
---
 selfdrive/locationd/lagd.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index 0a7c71a7ea..f4f46b7469 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -327,8 +327,9 @@ def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
         if last_CP.carFingerprint != CP.carFingerprint:
           raise Exception("Car model mismatch")
 
-        lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks
+        lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status
         assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
+        assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
         return lag, valid_blocks
     except Exception as e:
       cloudlog.error(f"Failed to retrieve initial lag: {e}")

From 65c210265b23ac6ca16a0f5532c880465aa41ab1 Mon Sep 17 00:00:00 2001
From: niko001 <nikolaus_fischer@t-online.de>
Date: Fri, 18 Apr 2025 05:55:32 +0200
Subject: [PATCH 54/91] Multilang: Update de translation (#35025)

added missing German translations
---
 selfdrive/ui/translations/main_de.ts | 598 ++++++++++++++-------------
 1 file changed, 301 insertions(+), 297 deletions(-)

diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 560e1df2cc..f279a8d9f1 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -3,14 +3,14 @@
 <TS version="2.1" language="de_DE">
 <context>
     <name>AbstractAlert</name>
-    <message>
+<message>
         <source>Close</source>
         <translation>Schließen</translation>
-    </message>
-    <message>
+</message>
+<message>
         <source>Snooze Update</source>
         <translation>Update pausieren</translation>
-    </message>
+</message>
     <message>
         <source>Reboot and Update</source>
         <translation>Aktualisieren und neu starten</translation>
@@ -66,26 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>Hochladen großer Dateien über getaktete Verbindungen unterbinden</translation>
     </message>
-    <message>
-        <source>Hidden Network</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>CONNECT</source>
-        <translation type="unfinished">CONNECT</translation>
-    </message>
-    <message>
-        <source>Enter SSID</source>
-        <translation type="unfinished">SSID eingeben</translation>
-    </message>
-    <message>
-        <source>Enter password</source>
-        <translation type="unfinished">Passwort eingeben</translation>
-    </message>
-    <message>
-        <source>for &quot;%1&quot;</source>
-        <translation type="unfinished">für &quot;%1&quot;</translation>
-    </message>
+<message>
+    <source>Hidden Network</source>
+    <translation>Verborgenes Netzwerk</translation>
+</message>
+<message>
+    <source>CONNECT</source>
+    <translation>VERBINDEN</translation>
+</message>
+<message>
+    <source>Enter SSID</source>
+    <translation>SSID eingeben</translation>
+</message>
+<message>
+    <source>Enter password</source>
+    <translation>Passwort eingeben</translation>
+</message>
+<message>
+    <source>for &quot;%1&quot;</source>
+    <translation>für "%1"</translation>
+</message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -115,34 +115,34 @@
 </context>
 <context>
     <name>DeveloperPanel</name>
-    <message>
-        <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Longitudinal Maneuver Mode</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>
-    <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>Joystick Debug Mode</source>
+    <translation>Joystick Debug-Modus</translation>
+</message>
+<message>
+    <source>Longitudinal Maneuver Mode</source>
+    <translation>Längsmanöver-Modus</translation>
+</message>
+<message>
+    <source>openpilot Longitudinal Control (Alpha)</source>
+    <translation>openpilot Längsregelung (Alpha)</translation>
+</message>
+<message>
+    <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+    <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (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>Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird.</translation>
+</message>
+<message>
+    <source>Enable ADB</source>
+    <translation>ADB aktivieren</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>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
+</message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -278,14 +278,14 @@
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
         <translation>Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot.</translation>
     </message>
-    <message>
-        <source>Pair Device</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>PAIR</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>Pair Device</source>
+    <translation>Gerät koppeln</translation>
+</message>
+<message>
+    <source>PAIR</source>
+    <translation>KOPPELN</translation>
+</message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -307,39 +307,41 @@
 </context>
 <context>
     <name>FirehosePanel</name>
-    <message>
-        <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>openpilot learns to drive by watching humans, like you, drive.
+<message>
+    <source>🔥 Firehose Mode 🔥</source>
+    <translation>🔥 Firehose-Modus 🔥</translation>
+</message>
+<message>
+    <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message numerus="yes">
-        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
-            <numerusform></numerusform>
-        </translation>
-    </message>
-    <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
-    </message>
+    <translation>openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut.
+
+Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt.</translation>
+</message>
+<message>
+    <source>Firehose Mode: ACTIVE</source>
+    <translation>Firehose-Modus: AKTIV</translation>
+</message>
+<message>
+    <source>ACTIVE</source>
+    <translation>AKTIV</translation>
+</message>
+<message>
+    <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+    <translation>Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.&lt;br&gt;&lt;br&gt;Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Häufig gestellte Fragen&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, wie oder wo ich fahre?&lt;/i&gt; Nein, fahre einfach wie gewohnt.&lt;br&gt;&lt;br&gt;&lt;i&gt;Werden im Firehose-Modus alle meine Segmente hochgeladen?&lt;/i&gt; Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.&lt;br&gt;&lt;br&gt;&lt;i&gt;Welcher USB-C-Adapter ist gut?&lt;/i&gt; Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, welche Software ich nutze?&lt;/i&gt; Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden.</translation>
+</message>
+<message numerus="yes">
+    <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+    <translation>
+        <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
+        <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
+    </translation>
+</message>
+<message>
+    <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+    <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
+</message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -411,49 +413,50 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     <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>Stelle sofort eine Internetverbindung her, um nach Updates zu suchen. Wenn du keine Verbindung herstellst, kann openpilot in %1 nicht mehr aktiviert werden.</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>Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde.</translation>
     </message>
-    <message>
-        <source>Unable to download updates
+<message>
+    <source>Unable to download updates
 %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation type="unfinished"></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>
-    </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>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation type="unfinished"></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>
-    </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>
-    </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>
-    </message>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
+    <translation>Updates konnten nicht heruntergeladen werden
+%1</translation>
+</message>
+<message>
+    <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+    <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</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>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</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>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
+</message>
+<message>
+    <source>NVMe drive not mounted.</source>
+    <translation>NVMe-Laufwerk nicht gemounted.</translation>
+</message>
+<message>
+    <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+    <translation>Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen.</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>openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai.</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>openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist.</translation>
+</message>
+<message>
+    <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+    <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
+</message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -472,26 +475,26 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>OnroadAlerts</name>
-    <message>
-        <source>openpilot Unavailable</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reboot Device</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>openpilot Unavailable</source>
+    <translation>openpilot nicht verfügbar</translation>
+</message>
+<message>
+    <source>TAKE CONTROL IMMEDIATELY</source>
+    <translation>ÜBERNIMM SOFORT DIE KONTROLLE</translation>
+</message>
+<message>
+    <source>Reboot Device</source>
+    <translation>Gerät neu starten</translation>
+</message>
+<message>
+    <source>Waiting to start</source>
+    <translation>Warten auf Start</translation>
+</message>
+<message>
+    <source>System Unresponsive</source>
+    <translation>System reagiert nicht</translation>
+</message>
 </context>
 <context>
     <name>PairingPopup</name>
@@ -511,10 +514,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden</translation>
     </message>
-    <message>
-        <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>Please connect to Wi-Fi to complete initial pairing</source>
+    <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
+</message>
 </context>
 <context>
     <name>ParamControl</name>
@@ -545,18 +548,18 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remote access</source>
         <translation>Fernzugriff</translation>
     </message>
-    <message>
-        <source>24/7 LTE connectivity</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>1 year of drive storage</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>24/7 LTE connectivity</source>
+    <translation>24/7 LTE-Verbindung</translation>
+</message>
+<message>
+    <source>1 year of drive storage</source>
+    <translation>Fahrdaten-Speicherung für 1 Jahr</translation>
+</message>
+<message>
+    <source>Remote snapshots</source>
+    <translation>Remote-Snapshots</translation>
+</message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -604,10 +607,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
             <numerusform>vor %n Tagen</numerusform>
         </translation>
     </message>
-    <message>
-        <source>now</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>now</source>
+    <translation>jetzt</translation>
+</message>
 </context>
 <context>
     <name>Reset</name>
@@ -635,19 +638,20 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Confirm</source>
         <translation>Bestätigen</translation>
     </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>
-    </message>
-    <message>
-        <source>Resetting device...
+<message>
+    <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+    <translation>Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen.</translation>
+</message>
+<message>
+    <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></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>
-    </message>
+    <translation>Gerät wird zurückgesetzt...
+Dies kann bis zu einer Minute dauern.</translation>
+</message>
+<message>
+    <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+    <translation>System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen.</translation>
+</message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -671,14 +675,14 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Software</translation>
     </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Firehose</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>Developer</source>
+    <translation>Entwickler</translation>
+</message>
+<message>
+    <source>Firehose</source>
+    <translation>Firehose</translation>
+</message>
 </context>
 <context>
     <name>Setup</name>
@@ -750,30 +754,30 @@ This may take up to a minute.</source>
         <source>Start over</source>
         <translation>Von neuem beginnen</translation>
     </message>
-    <message>
-        <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>No custom software found at this URL.</source>
+    <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
+</message>
+<message>
+    <source>Something went wrong. Reboot the device.</source>
+    <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
+</message>
     <message>
         <source>Select a language</source>
         <translation>Sprache wählen</translation>
     </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>Choose Software to Install</source>
+    <translation>Wähle die zu installierende Software</translation>
+</message>
+<message>
+    <source>openpilot</source>
+    <translation>openpilot</translation>
+</message>
+<message>
+    <source>Custom Software</source>
+    <translation>Benutzerdefinierte Software</translation>
+</message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -921,26 +925,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>Deinstallieren</translation>
     </message>
-    <message>
-        <source>failed to check for update</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>up to date, last checked %1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>DOWNLOAD</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>update available</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>never</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>failed to check for update</source>
+    <translation>Update-Prüfung fehlgeschlagen</translation>
+</message>
+<message>
+    <source>up to date, last checked %1</source>
+    <translation>Auf dem neuesten Stand, zuletzt geprüft am %1</translation>
+</message>
+<message>
+    <source>DOWNLOAD</source>
+    <translation>HERUNTERLADEN</translation>
+</message>
+<message>
+    <source>update available</source>
+    <translation>Update verfügbar</translation>
+</message>
+<message>
+    <source>never</source>
+    <translation>nie</translation>
+</message>
 </context>
 <context>
     <name>SshControl</name>
@@ -998,14 +1002,14 @@ This may take up to a minute.</source>
         <source>Agree</source>
         <translation>Zustimmen</translation>
     </message>
-    <message>
-        <source>Welcome to openpilot</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>Welcome to openpilot</source>
+    <translation>Willkommen bei openpilot</translation>
+</message>
+<message>
+    <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+    <translation>Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;, bevor du fortfährst.</translation>
+</message>
 </context>
 <context>
     <name>TogglesPanel</name>
@@ -1069,54 +1073,54 @@ 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>Aggressive</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Standard</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Relaxed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Driving Personality</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></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>
-    </message>
-    <message>
-        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation type="unfinished"></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>
-    </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>
-    </message>
-    <message>
-        <source>Always-On Driver Monitoring</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>Aggressive</source>
+    <translation>Aggressiv</translation>
+</message>
+<message>
+    <source>Standard</source>
+    <translation>Standard</translation>
+</message>
+<message>
+    <source>Relaxed</source>
+    <translation>Entspannt</translation>
+</message>
+<message>
+    <source>Driving Personality</source>
+    <translation>Fahrstil</translation>
+</message>
+<message>
+    <source>End-to-End Longitudinal Control</source>
+    <translation>Ende-zu-Ende Längsregelung</translation>
+</message>
+<message>
+    <source>openpilot longitudinal control may come in a future update.</source>
+    <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
+</message>
+<message>
+    <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+    <translation>Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden.</translation>
+</message>
+<message>
+    <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+    <translation>Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben.</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>Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln.</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>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
+</message>
+<message>
+    <source>Always-On Driver Monitoring</source>
+    <translation>Dauerhaft aktive Fahrerüberwachung</translation>
+</message>
+<message>
+    <source>Enable driver monitoring even when openpilot is not engaged.</source>
+    <translation>Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist.</translation>
+</message>
 </context>
 <context>
     <name>Updater</name>
@@ -1155,18 +1159,18 @@ This may take up to a minute.</source>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
-    <message>
-        <source>Open</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
-    </message>
+<message>
+    <source>Open</source>
+    <translation>Öffnen</translation>
+</message>
+<message>
+    <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+    <translation>Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern.</translation>
+</message>
+<message>
+    <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+    <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose-Modus &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
+</message>
 </context>
 <context>
     <name>WifiUI</name>

From 2c162d9b75ae4e77bdf5bc3225e880d352ec0f5c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Thu, 17 Apr 2025 23:21:25 -0700
Subject: [PATCH 55/91] Tomb raider 2 (#35029)

* db56b8fb-9135-4ab6-af18-99b7df7b2245/400

* fixes

* linter unhappy

* 6dbe0991-baa1-49ad-836a-ab370d1f0d92/400

* This one is good: 19387087-1005-475e-9015-9458dd8e7c5f/400

* Better every day: 39ed911c-0937-417f-97d2-58a8bb3caa53/400

* Actually end-to-end

* typo

* smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360

* Revert "smooooooth: 94e23541-eb84-4fef-9f51-6a2d82aff314/360"

This reverts commit edd4f02386d83d82dd8a188985cde80ed1646b7f.

* 11632ef7-f555-489c-8480-e3bf97d9285e/400

* 08712d27-f6bd-4536-a30e-c729e5f62356/400

* 0a92a35e-1f72-476a-8cb6-c9f103f36822/400

* ee6d2394-2072-420c-a664-b4c0d4ed0b61/400

* no prev curv

* No double work

* fix bug

* smooth

* update prev action

* whitespace

* add little accel

* new ref

* Update plant.py
---
 .../controls/lib/longitudinal_planner.py      | 20 ++++++++++++++-----
 selfdrive/modeld/fill_model_msg.py            | 10 +++++-----
 selfdrive/modeld/modeld.py                    |  7 ++++---
 selfdrive/modeld/models/driving_policy.onnx   |  4 ++--
 selfdrive/modeld/models/driving_vision.onnx   |  4 ++--
 selfdrive/modeld/parse_model_outputs.py       | 13 ++++++------
 .../test/longitudinal_maneuvers/plant.py      |  1 +
 selfdrive/test/process_replay/ref_commit      |  2 +-
 8 files changed, 36 insertions(+), 25 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 8cbf0beee9..104c7c9d49 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -89,14 +89,15 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    self.mpc.mode = 'acc'
+    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
     else:
       accel_coast = ACCEL_MAX
 
-    v_ego = sm['carState'].vEgo
+    v_ego = sm['modelV2'].velocity.x[0]
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
     v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
@@ -112,7 +113,7 @@ class LongitudinalPlanner:
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if self.mpc.mode == 'acc':
+    if self.mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -128,7 +129,7 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0)
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
@@ -159,8 +160,17 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
+    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+    output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
+    if self.mode == 'acc':
+      output_a_target = output_a_target_mpc
+      self.output_should_stop = output_should_stop_mpc
+    else:
+      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
+      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index a91c6395c7..36bd724d01 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -90,11 +90,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  #temporal_pose = modelV2.temporalPose
+  #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
 
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index f5007273ec..0ad629f519 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -43,8 +43,8 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.0
-LONG_SMOOTH_SECONDS = 0.0
+LAT_SMOOTH_SECONDS = 0.3
+LONG_SMOOTH_SECONDS = 0.3
 
 def smooth_value(val, prev_val, tau):
   alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
@@ -174,7 +174,7 @@ class ModelState:
     # TODO model only uses last value now
     self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
     self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
 
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
@@ -338,6 +338,7 @@ def main(demo=False):
       posenet_send = messaging.new_message('cameraOdometry')
 
       action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 3601bbb5da..3bf2e01b5e 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
-size 15966721
+oid sha256:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342
+size 15578328
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index aee6d8f1bf..5e08b78472 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
-size 34882971
+oid sha256:f222d2c528f1763828de01bb55e8979b1e4056e1dbb41350f521d2d2bb09d177
+size 46265585
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index 810c44ccb9..783572d436 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -88,6 +88,12 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     return outs
@@ -95,17 +101,10 @@ class Parser:
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 989b84dee3..b8c6adb436 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -107,6 +107,7 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
+    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     velocity.x[0] = float(self.speed) # always start at current speed
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 632922a8a4..5f89d7802d 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-3d3f875dc211ab0ca8a8e564ecf6dd3f52fcf7d9
\ No newline at end of file
+0800e73b5d9c801f161b9559557c0559b0682fec
\ No newline at end of file

From 65431f4e2f0a6835fa2f4a2a9d2dc5a0ce227e74 Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Fri, 18 Apr 2025 11:02:50 -0700
Subject: [PATCH 56/91] DEC: adjust dynamic speed adaptation parameters (#813)

* early and better

* Update sunnypilot/selfdrive/controls/lib/dec/constants.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
---
 sunnypilot/selfdrive/controls/lib/dec/constants.py | 5 ++---
 sunnypilot/selfdrive/controls/lib/dec/dec.py       | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py
index c1e3726606..48f4203e93 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/constants.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py
@@ -2,12 +2,11 @@ class WMACConstants:
   LEAD_WINDOW_SIZE = 5
   LEAD_PROB = 0.5
 
-  SLOW_DOWN_WINDOW_SIZE = 4
+  SLOW_DOWN_WINDOW_SIZE = 5
   SLOW_DOWN_PROB = 0.6
 
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-  #SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
-  SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
+  SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
 
   SLOWNESS_WINDOW_SIZE = 12
   SLOWNESS_PROB = 0.5
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 0c33da500a..812e5cc15f 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -164,7 +164,7 @@ class DynamicExperimentalController:
     """
     Adapts the slow-down threshold based on vehicle speed and recent behavior.
     """
-    slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
     adaptive_threshold: float = float(
       interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
     )

From 3b60b22ceeb090812e5fa948ac6e56442d681dc4 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Fri, 18 Apr 2025 14:29:37 -0700
Subject: [PATCH 57/91] OS04C10: use IFE downscaler for road cameras (#35023)

* squashh

* wrong

* clean up

* rename
---
 system/camerad/cameras/camera_common.cc    |  3 --
 system/camerad/cameras/camera_common.h     |  2 +-
 system/camerad/cameras/camera_qcom2.cc     | 10 ++--
 system/camerad/cameras/ife.h               | 18 ++++----
 system/camerad/cameras/spectra.cc          | 40 +++++++++-------
 system/camerad/sensors/os04c10.cc          | 11 +++++
 system/camerad/sensors/os04c10_registers.h | 54 ++++++++++++++--------
 system/camerad/sensors/sensor.h            |  2 +
 8 files changed, 87 insertions(+), 53 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index f6c2681dea..1f6ad9b4be 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
-  out_img_width = sensor->frame_width;
-  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
-
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index c0426678b6..c26859cbc4 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -32,7 +32,7 @@ public:
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  int out_img_width, out_img_height;
+  uint32_t out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 18a42f05d8..8c4602bb31 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
 
   if (!camera.enabled) return;
 
-  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
   set_exposure_rect();
 
   dc_gain_weight = camera.sensor->dc_gain_min_weight;
@@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 49737f2db7..fd87d2baa4 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
 }
 
 
-int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
   uint8_t *start = dst;
 
   // start with the every frame config
@@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   // output size/scaling
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
-    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
+    ((out_width - 1) << 16) | (s->frame_width - 1),
     0x30036666,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
+    ((out_height - 1) << 16) | (s->frame_height - 1),
     0x30036666,
     0x00000000,
     0x00000000,
@@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   });
   dst += write_cont(dst, 0xa68, {
     0x00000003,
-    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
+    ((out_width / 2 - 1) << 16) | (s->frame_width - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
+    ((out_height / 2 - 1) << 16) | (s->frame_height - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
@@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
 
   // cropping
   dst += write_cont(dst, 0xe10, {
-    s->frame_height - 1,
-    s->frame_width - 1,
+    out_height - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe30, {
-    s->frame_height/2 - 1,
-    s->frame_width - 1,
+    out_height / 2 - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe18, {
     0x0ff00000,
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 4535078771..47ae9061f4 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   if (!enabled) return;
 
+  buf.out_img_width = sensor->frame_width / sensor->out_scale;
+  buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
+
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
   if (cc.output_type != ISP_RAW_OUTPUT) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
   assert(y_height/2 == uv_height);
 
   open = true;
@@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
     io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
     io_cfg[1].planes[0] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
       .plane_stride = stride,
       .slice_height = y_height,
     };
     io_cfg[1].planes[1] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height/2,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height / 2,
       .plane_stride = stride,
       .slice_height = uv_height,
     };
@@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
       } else {
         buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
@@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
       io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height,
         .plane_stride = stride,
         .slice_height = y_height,
       };
       io_cfg[0].planes[1] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height/2,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height / 2,
         .plane_stride = stride,
         .slice_height = uv_height,
       };
@@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
+    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
+      ((OS04C10*)s)->ife_downscale_configure();
+    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() {
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_FULL,
       .format = CAM_FORMAT_NV12,
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
@@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() {
     },
     .out_res[0] = (struct cam_icp_res_info){
       .format = 0x3,  // YUV420NV12
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
       .fps = 20,
     },
   };
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index d008e1d07b..38be4ecca4 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
+void OS04C10::ife_downscale_configure() {
+  out_scale = 2;
+
+  pixel_size_mm = 0.002;
+  frame_width = 2688;
+  frame_height = 1520;
+  exposure_time_max = 2352;
+
+  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
+}
+
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 8b1c78c69d..b501656090 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
-  // {0x3829, 0x03},
-  // {0x3832, 0x00},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
@@ -199,7 +197,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -231,7 +228,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x14},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -241,14 +237,9 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x08},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
-  {0x37d9, 0x04},
   {0x4040, 0x00},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
 
   // FSIN
   {0x3002, 0x22},
@@ -269,20 +260,11 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x03},
   {0x3815, 0x01},
-  {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
-
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -331,4 +313,40 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // r
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
+
+  {0x3714, 0x28},
+  {0x37c2, 0x14},
+  {0x3662, 0x08},
+  {0x37d9, 0x04},
+  {0x4041, 0x03},
+  {0x4008, 0x01},
+  {0x4009, 0x06},
+  {0x3808, 0x05}, {0x3809, 0x40},
+  {0x380a, 0x02}, {0x380b, 0xf8},
+  {0x3814, 0x03},
+  {0x3816, 0x03},
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x3820, 0xb3},
+  {0x3821, 0x01},
+};
+
+const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  {0x3829, 0x03},
+  {0x3714, 0x24},
+  {0x37c2, 0x04},
+  {0x3662, 0x10},
+  {0x37d9, 0x08},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x3814, 0x01},
+  {0x3816, 0x01},
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
 };
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index c1131aafdf..d4be3cf036 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -29,6 +29,7 @@ public:
   uint32_t frame_stride;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
+  int out_scale = 1;
   int registers_offset = -1;
   int stats_offset = -1;
   int hdr_offset = -1;
@@ -109,6 +110,7 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
+  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;

From 7ceb284d6d3557713ec58f4726f864a0e5f1ebaa Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Fri, 18 Apr 2025 19:21:52 -0700
Subject: [PATCH 58/91] process replay migration: fix longitudinalPlan (#35035)

---
 selfdrive/test/process_replay/migration.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 39d5452b6b..02cd9b6d71 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -13,7 +13,7 @@ from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -109,7 +109,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, new_msg.as_reader()))
   return ops, [], []

From 1db91d6257a21c428eb1851458a5bff02194ab45 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 19 Apr 2025 07:53:20 +0200
Subject: [PATCH 59/91] ci: ui preview add unicode characters and emojis (#835)

Add unicode characters and emojis!
---
 Dockerfile.openpilot_base | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 44d8d95e95..04fb589bf6 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -60,6 +60,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX=1
 
 RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
 
 ARG USER=batman
 ARG USER_UID=1001

From fb5fa70e78c18566ce79ebdb554d02ceec07d176 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sat, 19 Apr 2025 16:17:18 +0100
Subject: [PATCH 60/91] ui(raylib): update text window font, new lines and
 indentation (#35031)

---
 system/ui/text.py | 31 +++++++++++++++++++------------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/system/ui/text.py b/system/ui/text.py
index 97d0ebcce9..4ea886ba1e 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import re
 import pyray as rl
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
@@ -7,8 +8,8 @@ from openpilot.system.ui.lib.application import gui_app
 
 MARGIN = 50
 SPACING = 50
-FONT_SIZE = 60
-LINE_HEIGHT = 64
+FONT_SIZE = 72
+LINE_HEIGHT = 80
 BUTTON_SIZE = rl.Vector2(310, 160)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
@@ -16,18 +17,24 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
 
 def wrap_text(text, font_size, max_width):
   lines = []
-  current_line = ""
   font = gui_app.font()
 
-  for word in text.split():
-    test_line = current_line + word + " "
-    if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
-      current_line = test_line
-    else:
+  for paragraph in text.split("\n"):
+    if not paragraph.strip():
+      lines.append("")
+      continue
+    indent = re.match(r"^\s*", paragraph).group()
+    current_line = indent
+    for word in paragraph.split():
+      test_line = current_line + word + " "
+      if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
+        current_line = test_line
+      else:
+        lines.append(current_line)
+        current_line = word + " "
+    current_line = current_line.rstrip()
+    if current_line:
       lines.append(current_line)
-      current_line = word + " "
-  if current_line:
-    lines.append(current_line)
 
   return lines
 
@@ -45,7 +52,7 @@ class TextWindow:
       position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
       if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
         continue
-      rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
+      rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
     rl.end_scissor_mode()
 
     button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)

From bcdb5466380e9e789afaa9b03620607c11d6719c Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Sat, 19 Apr 2025 09:47:47 -0600
Subject: [PATCH 61/91] NNLC: decreased low-speed factor (#822)

* NNLC: decreased low-speed factor

* np.float to float

* format

* add tests for sanity check

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 selfdrive/controls/lib/latcontrol_torque.py   |  3 +-
 .../controls/lib/latcontrol_torque_ext.py     |  5 +-
 .../lib/latcontrol_torque_ext_base.py         |  2 +
 .../selfdrive/controls/lib/nnlc/nnlc.py       |  7 +++
 .../controls/lib/nnlc/tests/test_nnlc.py      | 56 +++++++++++++++++++
 5 files changed, 71 insertions(+), 2 deletions(-)
 create mode 100644 sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py

diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 613824a4ed..5edf4cf91b 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -80,7 +80,8 @@ class LatControlTorque(LatControl):
       # Lateral acceleration torque controller extension updates
       # Overrides stock ff and pid_log.error
       ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel)
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                          desired_curvature, actual_curvature)
 
       freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index ee8d64dcd0..fe54f46ca7 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -13,7 +13,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
     super().__init__(lac_torque, CP, CP_SP)
 
   def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel):
+             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+             desired_curvature, actual_curvature):
     self._ff = ff
     self._pid_log = pid_log
     self._setpoint = setpoint
@@ -21,6 +22,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
+    self._desired_curvature = desired_curvature
+    self._actual_curvature = actual_curvature
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 48d98501b2..800bbac67a 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -62,6 +62,8 @@ class LatControlTorqueExtBase:
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
+    self._desired_curvature = 0.0
+    self._actual_curvature = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index aee359574b..ba4285ba2b 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -16,6 +16,9 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base impo
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
+LOW_SPEED_X = [0, 10, 20, 30]
+LOW_SPEED_Y = [12, 3, 1, 0]
+
 
 # At a given roll, if pitch magnitude increases, the
 # gravitational acceleration component starts pointing
@@ -59,6 +62,10 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     if not self.enabled or not self.model_valid or not self.has_nn_model:
       return
 
+    low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
+    self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
+    self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
+
     # update past data
     roll = params.roll
     if calibrated_pose is not None:
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
new file mode 100644
index 0000000000..c7227c2d51
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -0,0 +1,56 @@
+from parameterized import parameterized
+
+from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_livePose
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+
+
+class TestNeuralNetworkLateralControl:
+
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  def test_saturation(self, car_name):
+    params = Params()
+    params.put_bool("NeuralNetworkLateralControl", True)
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+
+    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
+
+    CP_SP = convert_to_capnp(CP_SP)
+    VM = VehicleModel(CP)
+
+    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+
+    params = log.LiveParametersData.new_message()
+
+    lp = generate_livePose()
+    pose = Pose.from_live_pose(lp.livePose)
+
+    # Saturate for curvature limited and controller limited
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+    assert lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+    assert not lac_log.saturated
+
+    for _ in range(1000):
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
+    assert lac_log.saturated

From 618b7ccf230d4048f85924c7b1bbd0f9f1b6533a Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sat, 19 Apr 2025 17:08:33 +0100
Subject: [PATCH 62/91] ui(raylib): calculate spinner progress in set_text
 (#35036)

---
 system/ui/spinner.py | 32 ++++++++++++++++++--------------
 1 file changed, 18 insertions(+), 14 deletions(-)

diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 951c6f697e..edf1fe5ca9 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -26,11 +26,17 @@ class Spinner:
     self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
     self._rotation = 0.0
     self._text: str = ""
+    self._progress: int | None = None
     self._lock = threading.Lock()
 
   def set_text(self, text: str) -> None:
     with self._lock:
-      self._text = text
+      if text.isdigit():
+        self._progress = clamp(int(text), 0, 100)
+        self._text = ""
+      else:
+        self._progress = None
+        self._text = text
 
   def render(self):
     center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
@@ -49,23 +55,21 @@ class Spinner:
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
     # Display progress bar or text based on user input
-    text = None
+    y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
     with self._lock:
+      progress = self._progress
       text = self._text
 
-    if text:
-      y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
-      if text.isdigit():
-        progress = clamp(int(text), 0, 100)
-        bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
-        rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
+    if progress is not None:
+      bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
+      rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
 
-        bar.width *= progress / 100.0
-        rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
-      else:
-        text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
-        rl.draw_text_ex(gui_app.font(), text,
-                        rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
+      bar.width *= progress / 100.0
+      rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
+    elif text:
+      text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
+      rl.draw_text_ex(gui_app.font(), text,
+                      rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
 
 
 if __name__ == "__main__":

From 1bf752fc79611a9a73876ad5d5dfb50adce4e26f Mon Sep 17 00:00:00 2001
From: Kumar <36933347+rav4kumar@users.noreply.github.com>
Date: Sat, 19 Apr 2025 12:15:28 -0700
Subject: [PATCH 63/91] bugfix: Auto lane change - Add mode to disable lane
 changes (#826)

* off is off

* sugg

* line

* Update sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: DevTekVE <devtekve@gmail.com>
---
 selfdrive/controls/lib/desire_helper.py           |  4 ++--
 .../controls/lib/tests/test_auto_lane_change.py   | 15 +++++++++++++++
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 34ea4ff1bb..23386e2ad7 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,7 +1,7 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -48,7 +48,7 @@ class DesireHelper:
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
index c1b3053207..5d1fa360ed 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -51,6 +51,7 @@ class TestAutoLaneChangeController:
     assert not self.alc.prev_brake_pressed
 
   @parameterized.expand([(AutoLaneChangeMode.OFF, ), (AutoLaneChangeMode.NUDGE, )])
+
   def test_off_and_nudge_mode(self, timer_state):
     """Test the default OFF and NUDGE mode behavior."""
     self._reset_states()
@@ -196,3 +197,17 @@ class TestAutoLaneChangeController:
         self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
       assert not self.alc.auto_lane_change_allowed
+
+  def test_auto_lane_change_mode_off_disallows_lane_change(self):
+    """Test that OFF mode never allows auto lane change."""
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False
+    self.alc.lane_change_set_timer = AutoLaneChangeMode.OFF
+
+    # Simulate updates for a long period of time (e.g., 10 seconds)
+    num_updates = int(10.0 / DT_MDL)
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # Lane change should never be allowed
+    assert not self.alc.auto_lane_change_allowed

From 2fe3c2748edfa862184227bc21554508daf03b85 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sat, 19 Apr 2025 21:41:11 -0400
Subject: [PATCH 64/91] NNLC: use `safe_exp` to prevent overflow in `sigmoid`
 (#836)

* test

* prevent overflowing

* unused
---
 .../selfdrive/controls/lib/nnlc/model.py      |  4 ++-
 .../controls/lib/nnlc/tests/test_nnlc.py      | 35 ++++++++++++++++++-
 2 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
index 1e527c7370..ab6706bf36 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
@@ -7,6 +7,8 @@ See the LICENSE.md file in the root directory for more details.
 from json import load
 import numpy as np
 
+from openpilot.selfdrive.modeld.parse_model_outputs import safe_exp
+
 # dict used to rename activation functions whose names aren't valid python identifiers
 ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
 
@@ -40,7 +42,7 @@ class NNTorqueModel:
   # These are called by name using the keys in the model json file
   @staticmethod
   def sigmoid(x):
-    return 1 / (1 + np.exp(-x))
+    return 1 / (1 + safe_exp(-x))
 
   @staticmethod
   def identity(x):
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
index c7227c2d51..4e2649f2ff 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -1,6 +1,7 @@
+import numpy as np
 from parameterized import parameterized
 
-from cereal import car, log
+from cereal import car, log, messaging
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA
 from opendbc.car.hyundai.values import CAR as HYUNDAI
@@ -12,6 +13,30 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.locationd.helpers import Pose
 from openpilot.common.mock.generators import generate_livePose
 from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+
+def generate_modelV2():
+  model = messaging.new_message('modelV2')
+  position = log.XYZTData.new_message()
+  speed = 30
+  position.x = [float(x) for x in (speed + 0.5) * np.array(ModelConstants.T_IDXS)]
+  model.modelV2.position = position
+  orientation = log.XYZTData.new_message()
+  curvature = 0.05
+  orientation.x = [float(curvature) for _ in ModelConstants.T_IDXS]
+  orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.orientation = orientation
+  velocity = log.XYZTData.new_message()
+  velocity.x = [float(x) for x in (speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
+  velocity.x[0] = float(speed)  # always start at current speed
+  model.modelV2.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
+  acceleration.y = [float(y) for y in np.zeros_like(ModelConstants.T_IDXS)]
+  model.modelV2.acceleration = acceleration
+
+  return model
 
 
 class TestNeuralNetworkLateralControl:
@@ -42,15 +67,23 @@ class TestNeuralNetworkLateralControl:
     lp = generate_livePose()
     pose = Pose.from_live_pose(lp.livePose)
 
+    mdl = generate_modelV2()
+    sm = {'modelV2': mdl.modelV2}
+    model_v2 = sm['modelV2']
+    controller.extension.model_v2 = model_v2
+
     # Saturate for curvature limited and controller limited
     for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
     assert lac_log.saturated
 
     for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
     assert not lac_log.saturated
 
     for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
       _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
     assert lac_log.saturated

From a87986dd825b62a19b195c5459321b35ad512a7c Mon Sep 17 00:00:00 2001
From: Tim Wilson <twilsonco@gmail.com>
Date: Sat, 19 Apr 2025 19:53:57 -0600
Subject: [PATCH 65/91] NNLC: fix weak torque in high lat-accel turns (#823)

* NNLC: fix weak torque in high lat-accel turns

* np.float to float

---------

Co-authored-by: Discountchubbs <159560811+Discountchubbs@users.noreply.github.com>
Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
---
 sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index ba4285ba2b..218bbb9f6a 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -12,7 +12,7 @@ from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
@@ -99,6 +99,22 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     torque_from_measurement = self.model.evaluate(nnff_measurement_input)
     self._pid_log.error = torque_from_setpoint - torque_from_measurement
 
+    # The "pure" NNLC error response can be too weak for cars whose models were trained
+    # with a lack of high-magnitude lateral acceleration data, for which the NNLC model
+    # torque response flattens out at high lateral accelerations.
+    # This workaround blends in a guaranteed stronger error response only when the
+    # desired lateral acceleration is high enough to warrant it, by using the lateral acceleration
+    # error as the input to the NNLC model. This is not ideal, and potentially degrades the NNLC
+    # accuracy for cars that don't have this issue, but it's necessary until a better NNLC model
+    # structure is used that doesn't create this issue when high-magnitude data is missing.
+    error_blend_factor = float(np.interp(abs(self._desired_lateral_accel), [1.0, 2.0], [0.0, 1.0]))
+    if error_blend_factor > 0.0:  # blend in stronger error response when in high lat accel
+      # NNFF inputs 5+ are optional, and if left out are replaced with 0.0 inside the NNFF class
+      nnff_error_input = [CS.vEgo, self._setpoint - self._measurement, self.lateral_jerk_setpoint - self.lateral_jerk_measurement, 0.0]
+      torque_from_error = self.model.evaluate(nnff_error_input)
+      if sign(self._pid_log.error) == sign(torque_from_error) and abs(self._pid_log.error) < abs(torque_from_error):
+        self._pid_log.error = self._pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
+
     # compute feedforward (same as nn setpoint output)
     friction_input = self.update_friction_input(self._setpoint, self._measurement)
     nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \

From 4ea982ca37cbad859eb6d8561d7e363560b26fd2 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 12:06:28 +0200
Subject: [PATCH 66/91] ci: trigger prebuilt builds via label from PR

* ci: enhance pull request handling for prebuilt workflows

* ci: add wait-for-action step to monitor selfdrive_tests workflow

* ci: add validation job to monitor selfdrive_tests for prebuilt workflows

* test

* force negative condition to validate flow

* force negative condition to validate flow

* ci: add wait_for_tests input to control selfdrive_tests workflow execution

* ci: update description for wait_for_tests input in workflow

* Cleaning

* Remove PR label when triggered by the label

* Rename

* Changing to target and only caring about labeled for the time being

* gh action needs cancelled not canceled

* Line ending
---
 .codespellignore                              |  1 +
 .../workflows/sunnypilot-build-prebuilt.yaml  | 51 ++++++++++++++++---
 2 files changed, 46 insertions(+), 6 deletions(-)

diff --git a/.codespellignore b/.codespellignore
index 6af9bb0f35..c7beb6f04f 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -1,3 +1,4 @@
 Wen
 REGIST
 PullRequest
+cancelled
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index c7c72919c5..241228598d 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -21,15 +21,30 @@ on:
   push:
     branches: [ master, master-new, master-dev-c3-new ]
     tags: [ '*' ]
+  pull_request_target:
+    types: [ labeled ]
   workflow_dispatch:
     inputs:
-      extra_version:
-        description: 'Extra version identifier'
+      wait_for_tests:
+        description: 'Wait for selfdrive_tests to finish'
         required: false
-        default: ''
+        type: boolean
+        default: false
 
 jobs:
+  validate_tests:
+    runs-on: ubuntu-24.04
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    steps:
+      - uses: actions/checkout@v4
+      - name: Wait for Tests
+        uses: ./.github/workflows/wait-for-action # Path to where you place the action
+        with:
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
   build:
+    needs: [ validate_tests ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
@@ -39,6 +54,7 @@ jobs:
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
       commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    if: always() && !failure() && !cancelled()
     steps:
       - uses: actions/checkout@v4
         with:
@@ -194,10 +210,10 @@ jobs:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
+    if: ${{ !contains('pull_request', github.event_name) || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
     needs: build
     runs-on: ubuntu-24.04
-    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -268,4 +284,27 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
           echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
\ No newline at end of file
+        shell: alpine.sh {0}
+  
+  manage-pr-labels:
+    name: Remove prebuilt label
+    runs-on: ubuntu-latest
+    if: (always() && contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    env:
+      LABEL: prebuilt
+    steps:
+      - name: Remove trust-fork-pr label if present
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.LABEL
+            });
+
+            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

From 898f30744f17a3abcb129921b48c7ab622bb431c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 13:04:35 +0200
Subject: [PATCH 67/91] ci: avoid deadlock on dev-c3 branch build when PR
 labeled dev-c3 (#839)

* ci: enhance PR checks to validate individual check runs before merging and ignore reset-and-squash as candidate for fail

* reset and squash script shouldn't will be cancelled only if a push to master has been made which always should take priority. The rest will be put on hold to avoid parallel squash scripts running

* Set concurrencty at workflow level?

* Set concurrencty at workflow level?

* change trigger to pull_request to validate

* Reducing the types of "pull request" events

* Keep it as target

* Playing eith run name a little

* Change to pull request not target

* simplifying

* set to just pull request without target

* maintain as pull request target
---
 .../sunnypilot-master-dev-c3-prep.yaml        | 14 +++++---
 release/ci/squash_and_merge_prs.py            | 32 ++++++++++++++++---
 2 files changed, 38 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 1246b96780..7fdcb368ec 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -14,7 +14,7 @@ on:
       - master
       - master-new    
   pull_request_target:
-    types: [ synchronize, opened, labeled ]  
+    types: [ synchronize, labeled ]  
     branches:    
       - 'master'        
       - 'master-new'            
@@ -31,11 +31,17 @@ on:
         default: 'master-dev-c3-new'
         type: string
 
+concurrency:
+  group: ${{ github.workflow }}
+  cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
+  
+run-name: ${{ github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize') && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+
 jobs:
   manage-pr-labels:
     name: Remove trust-fork-pr label if present
     runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (github.event_name == 'pull_request_target' && github.event.action == 'synchronize'))
+    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
     steps:
       - name: Check if PR has dev-c3 label
         id: check-labels
@@ -89,7 +95,7 @@ jobs:
     if: (
             (github.event_name == 'workflow_dispatch')
             || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
         )
     steps:
       - uses: actions/checkout@v4
@@ -101,7 +107,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
                 (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+                || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
             )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 64fa325512..b26b08d500 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -76,9 +76,36 @@ def validate_pr(pr):
   if not commits:
     return False, "no commit data found"
 
+  # First check if we have the rollup status
   status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+
+  # If status is not SUCCESS, we need to check individual check runs
   if not status or status.get('state') != 'SUCCESS':
-    return False, "not all checks have passed"
+    # Get detailed check runs for this PR
+    checks_output = subprocess.run(
+      ['gh', 'pr', 'checks', str(pr_number), '--json', 'name,state'],
+      capture_output=True, text=True
+    )
+
+    try:
+      checks_data = json.loads(checks_output.stdout)
+
+      # Check if all checks are successful except for our reset-and-squash check
+      for check in checks_data:
+        check_name = check.get('name', '')
+        check_state = check.get('state', '')
+
+        # Skip our own check and any skipped checks
+        if check_name == 'reset-and-squash' or check_state == 'SKIPPED':
+          continue
+
+        # If any other check is not successful, the PR is not valid
+        if check_state != 'SUCCESS':
+          return False, f"check '{check_name}' has state '{check_state}'"
+
+    except json.JSONDecodeError:
+      # If we can't parse the JSON, fall back to the original check
+      return False, "unable to verify check status"
 
   # Check for merge conflicts
   merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
@@ -87,9 +114,6 @@ def validate_pr(pr):
   if not merge_data.get('mergeable'):
     return False, "merge conflicts detected"
 
-  # if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-  #   return False, f"branch is `{mergeStateStatus}`"
-
   return True, None
 
 

From 511e4c59198b08384e46619c94d066ee95204ac4 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 13:34:24 +0200
Subject: [PATCH 68/91] ci: update auto pr review config and split turst fork
 pr (#842)

* Updating auto pr labeler

* auto pr review revamp

* Leaving event as pull request :)

* Check permission

* add chore

* Bringing back as original
---
 .github/labeler.yaml                          |  6 +-
 .github/workflows/auto_pr_review.yaml         | 77 ++++++++++++++-----
 .../sunnypilot-master-dev-c3-prep.yaml        | 55 +------------
 3 files changed, 64 insertions(+), 74 deletions(-)

diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 0b1fcac0ec..01b6ae9343 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -1,7 +1,11 @@
-CI / testing:
+ci:
   - changed-files:
     - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
+chore:
+  - changed-files:
+      - any-glob-to-all-files: "{.github/**}"
+
 car:
   - changed-files:
     - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 33940b6d4b..b7bc015007 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -9,6 +9,7 @@ jobs:
     permissions:
       contents: read
       pull-requests: write
+      issues: write
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -28,25 +29,63 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
+        target: /^(?!master-new$).*/
+        exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-new` branch"
 
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
+  update-pr-labels:
+    name: Update fork's PR Labels
+    runs-on: ubuntu-latest
+    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
+    env: 
+      PR_LABEL: 'dev-c3'
+      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
+    steps:
+      - name: Check if PR has dev-c3 label
+        id: check-labels
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber
+            });
+            
+            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
+            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
+            
+            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
+            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
+            
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
+      
+      - name: Remove trust-fork-pr label if present
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.TRUST_FORK_PR_LABEL
+            });
+            
+            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
+            
+            // Add a comment to the PR
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
+            });
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 7fdcb368ec..2d6924d204 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -4,7 +4,6 @@ env:
   DEFAULT_SOURCE_BRANCH: "master-new"
   DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
-  TRUST_FORK_PR_LABEL: "trust-fork-pr"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -35,61 +34,9 @@ concurrency:
   group: ${{ github.workflow }}
   cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
   
-run-name: ${{ github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize') && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+run-name: ${{ contains('pull_request', github.event_name) && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
 
 jobs:
-  manage-pr-labels:
-    name: Remove trust-fork-pr label if present
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
-    steps:
-      - name: Check if PR has dev-c3 label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-            
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });
-
   reset-and-squash:
     runs-on: ubuntu-latest
     if: (

From d0c209575e5419674de94e364077d508b53b0f7c Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 14:06:24 +0200
Subject: [PATCH 69/91] ci: bugfix flipped contains check for pull requests

---
 .github/workflows/auto_pr_review.yaml                | 2 +-
 .github/workflows/sunnypilot-build-prebuilt.yaml     | 6 +++---
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index b7bc015007..d3cfa60d92 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -38,7 +38,7 @@ jobs:
   update-pr-labels:
     name: Update fork's PR Labels
     runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains('pull_request', github.event_name) && github.event.action == 'synchronize'))
+    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
     env: 
       PR_LABEL: 'dev-c3'
       TRUST_FORK_PR_LABEL: 'trust-fork-pr'
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 241228598d..50c47c510e 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -34,7 +34,7 @@ on:
 jobs:
   validate_tests:
     runs-on: ubuntu-24.04
-    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
     steps:
       - uses: actions/checkout@v4
       - name: Wait for Tests
@@ -210,7 +210,7 @@ jobs:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ !contains('pull_request', github.event_name) || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
+    if: ${{ !contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
     needs: build
     runs-on: ubuntu-24.04
     environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
@@ -289,7 +289,7 @@ jobs:
   manage-pr-labels:
     name: Remove prebuilt label
     runs-on: ubuntu-latest
-    if: (always() && contains('pull_request', github.event_name) && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
     env:
       LABEL: prebuilt
     steps:
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 2d6924d204..1385a32aa5 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -34,7 +34,7 @@ concurrency:
   group: ${{ github.workflow }}
   cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
   
-run-name: ${{ contains('pull_request', github.event_name) && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+run-name: ${{ contains(github.event_name, 'pull_request') && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
 
 jobs:
   reset-and-squash:
@@ -42,7 +42,7 @@ jobs:
     if: (
             (github.event_name == 'workflow_dispatch')
             || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
         )
     steps:
       - uses: actions/checkout@v4
@@ -54,7 +54,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
                 (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (contains('pull_request', github.event_name) && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
             )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor

From 9a1e420fa781ca059337b8b665e38ff53027e4e8 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 14:19:31 +0200
Subject: [PATCH 70/91] ci: bugfix cancelling only when push to master or
 workflow dispatch.

Otherwise don't let it cancel as it seems that when running with pull_request_target we are with ref pointing to target and thus the cancel condition was being met
---
 .github/workflows/sunnypilot-master-dev-c3-prep.yaml | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 1385a32aa5..031be6a50d 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -13,7 +13,7 @@ on:
       - master
       - master-new    
   pull_request_target:
-    types: [ synchronize, labeled ]  
+    types: [ labeled ]  
     branches:    
       - 'master'        
       - 'master-new'            
@@ -29,12 +29,15 @@ on:
         required: true
         default: 'master-dev-c3-new'
         type: string
+      cancel_in_progress:
+        description: 'Cancel any in-progress runs of this workflow'
+        required: false
+        default: true
+        type: boolean
 
 concurrency:
   group: ${{ github.workflow }}
-  cancel-in-progress: ${{ github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-  
-run-name: ${{ contains(github.event_name, 'pull_request') && github.event.action == 'synchronize' && format('{0} - {1}', github.workflow, github.event.action) || format('{0} - {1}', github.workflow, github.event_name) }}
+  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
 
 jobs:
   reset-and-squash:

From d56baa0fbb8f99f3ee6dc6ad3f9fbc5aee2b01e2 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sun, 20 Apr 2025 15:03:49 +0100
Subject: [PATCH 71/91] ui(raylib): constant spinner rotation speed (#35037)

---
 system/ui/spinner.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index edf1fe5ca9..adfb604de9 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -9,7 +9,7 @@ from openpilot.system.ui.lib.application import gui_app
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
-ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
+DEGREES_PER_SECOND = 360.0  # one full rotation per second
 MARGIN = 200
 TEXTURE_SIZE = 360
 FONT_SIZE = 80
@@ -43,10 +43,8 @@ class Spinner:
     spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
     comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
-    fps = rl.get_fps()
-    if fps > 0:
-      degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
-      self._rotation = (self._rotation + degrees_per_frame) % 360.0
+    delta_time = rl.get_frame_time()
+    self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
 
     # Draw rotating spinner and static comma logo
     rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),

From b64ceb41ed903703138db323936f09835032fd2a Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 20 Apr 2025 21:18:11 +0200
Subject: [PATCH 72/91] ci: improve conditions for publish and notify steps in
 workflow (#844)

---
 .github/workflows/sunnypilot-build-prebuilt.yaml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 50c47c510e..156e10515b 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -206,12 +206,13 @@ jobs:
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
+
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ !contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt') }}
-    needs: build
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build ]
     runs-on: ubuntu-24.04
     environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
@@ -257,7 +258,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: success()
+    if: ${{ (always() && !failure() && !cancelled()) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

From ed555cb948ffcfd8a233938a6caba7fa93d30d2d Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 21 Apr 2025 12:48:11 -0700
Subject: [PATCH 73/91] [bot] Update translations (#35040)

Update translations

Co-authored-by: Vehicle Researcher <user@comma.ai>
---
 selfdrive/ui/translations/main_de.ts | 590 +++++++++++++--------------
 1 file changed, 295 insertions(+), 295 deletions(-)

diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index f279a8d9f1..986c0fa54f 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -3,14 +3,14 @@
 <TS version="2.1" language="de_DE">
 <context>
     <name>AbstractAlert</name>
-<message>
+    <message>
         <source>Close</source>
         <translation>Schließen</translation>
-</message>
-<message>
+    </message>
+    <message>
         <source>Snooze Update</source>
         <translation>Update pausieren</translation>
-</message>
+    </message>
     <message>
         <source>Reboot and Update</source>
         <translation>Aktualisieren und neu starten</translation>
@@ -66,26 +66,26 @@
         <source>Prevent large data uploads when on a metered connection</source>
         <translation>Hochladen großer Dateien über getaktete Verbindungen unterbinden</translation>
     </message>
-<message>
-    <source>Hidden Network</source>
-    <translation>Verborgenes Netzwerk</translation>
-</message>
-<message>
-    <source>CONNECT</source>
-    <translation>VERBINDEN</translation>
-</message>
-<message>
-    <source>Enter SSID</source>
-    <translation>SSID eingeben</translation>
-</message>
-<message>
-    <source>Enter password</source>
-    <translation>Passwort eingeben</translation>
-</message>
-<message>
-    <source>for &quot;%1&quot;</source>
-    <translation>für "%1"</translation>
-</message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>Verborgenes Netzwerk</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>VERBINDEN</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>SSID eingeben</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Passwort eingeben</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>für &quot;%1&quot;</translation>
+    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -115,34 +115,34 @@
 </context>
 <context>
     <name>DeveloperPanel</name>
-<message>
-    <source>Joystick Debug Mode</source>
-    <translation>Joystick Debug-Modus</translation>
-</message>
-<message>
-    <source>Longitudinal Maneuver Mode</source>
-    <translation>Längsmanöver-Modus</translation>
-</message>
-<message>
-    <source>openpilot Longitudinal Control (Alpha)</source>
-    <translation>openpilot Längsregelung (Alpha)</translation>
-</message>
-<message>
-    <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-    <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (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>Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird.</translation>
-</message>
-<message>
-    <source>Enable ADB</source>
-    <translation>ADB aktivieren</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>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
-</message>
+    <message>
+        <source>Joystick Debug Mode</source>
+        <translation>Joystick Debug-Modus</translation>
+    </message>
+    <message>
+        <source>Longitudinal Maneuver Mode</source>
+        <translation>Längsmanöver-Modus</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot Längsregelung (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (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>Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird.</translation>
+    </message>
+    <message>
+        <source>Enable ADB</source>
+        <translation>ADB aktivieren</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>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -278,14 +278,14 @@
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
         <translation>Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot.</translation>
     </message>
-<message>
-    <source>Pair Device</source>
-    <translation>Gerät koppeln</translation>
-</message>
-<message>
-    <source>PAIR</source>
-    <translation>KOPPELN</translation>
-</message>
+    <message>
+        <source>Pair Device</source>
+        <translation>Gerät koppeln</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>KOPPELN</translation>
+    </message>
 </context>
 <context>
     <name>DriverViewWindow</name>
@@ -307,41 +307,41 @@
 </context>
 <context>
     <name>FirehosePanel</name>
-<message>
-    <source>🔥 Firehose Mode 🔥</source>
-    <translation>🔥 Firehose-Modus 🔥</translation>
-</message>
-<message>
-    <source>openpilot learns to drive by watching humans, like you, drive.
+    <message>
+        <source>🔥 Firehose Mode 🔥</source>
+        <translation>🔥 Firehose-Modus 🔥</translation>
+    </message>
+    <message>
+        <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-    <translation>openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut.
+        <translation>openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut.
 
 Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt.</translation>
-</message>
-<message>
-    <source>Firehose Mode: ACTIVE</source>
-    <translation>Firehose-Modus: AKTIV</translation>
-</message>
-<message>
-    <source>ACTIVE</source>
-    <translation>AKTIV</translation>
-</message>
-<message>
-    <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-    <translation>Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.&lt;br&gt;&lt;br&gt;Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Häufig gestellte Fragen&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, wie oder wo ich fahre?&lt;/i&gt; Nein, fahre einfach wie gewohnt.&lt;br&gt;&lt;br&gt;&lt;i&gt;Werden im Firehose-Modus alle meine Segmente hochgeladen?&lt;/i&gt; Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.&lt;br&gt;&lt;br&gt;&lt;i&gt;Welcher USB-C-Adapter ist gut?&lt;/i&gt; Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, welche Software ich nutze?&lt;/i&gt; Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden.</translation>
-</message>
-<message numerus="yes">
-    <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-    <translation>
-        <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
-        <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
-    </translation>
-</message>
-<message>
-    <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-    <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
-</message>
+    </message>
+    <message>
+        <source>Firehose Mode: ACTIVE</source>
+        <translation>Firehose-Modus: AKTIV</translation>
+    </message>
+    <message>
+        <source>ACTIVE</source>
+        <translation>AKTIV</translation>
+    </message>
+    <message>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
+        <translation>Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.&lt;br&gt;&lt;br&gt;Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Häufig gestellte Fragen&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, wie oder wo ich fahre?&lt;/i&gt; Nein, fahre einfach wie gewohnt.&lt;br&gt;&lt;br&gt;&lt;i&gt;Werden im Firehose-Modus alle meine Segmente hochgeladen?&lt;/i&gt; Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.&lt;br&gt;&lt;br&gt;&lt;i&gt;Welcher USB-C-Adapter ist gut?&lt;/i&gt; Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, welche Software ich nutze?&lt;/i&gt; Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden.</translation>
+    </message>
+    <message numerus="yes">
+        <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
+        <translation>
+            <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
+            <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
+    </message>
 </context>
 <context>
     <name>HudRenderer</name>
@@ -419,44 +419,44 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <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>Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde.</translation>
     </message>
-<message>
-    <source>Unable to download updates
+    <message>
+        <source>Unable to download updates
 %1</source>
-    <translation>Updates konnten nicht heruntergeladen werden
+        <translation>Updates konnten nicht heruntergeladen werden
 %1</translation>
-</message>
-<message>
-    <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-    <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</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>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</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>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
-</message>
-<message>
-    <source>NVMe drive not mounted.</source>
-    <translation>NVMe-Laufwerk nicht gemounted.</translation>
-</message>
-<message>
-    <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-    <translation>Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen.</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>openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai.</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>openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist.</translation>
-</message>
-<message>
-    <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-    <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
-</message>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</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>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</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>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe-Laufwerk nicht gemounted.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen.</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>openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai.</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>openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
+    </message>
 </context>
 <context>
     <name>OffroadHome</name>
@@ -475,26 +475,26 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
 </context>
 <context>
     <name>OnroadAlerts</name>
-<message>
-    <source>openpilot Unavailable</source>
-    <translation>openpilot nicht verfügbar</translation>
-</message>
-<message>
-    <source>TAKE CONTROL IMMEDIATELY</source>
-    <translation>ÜBERNIMM SOFORT DIE KONTROLLE</translation>
-</message>
-<message>
-    <source>Reboot Device</source>
-    <translation>Gerät neu starten</translation>
-</message>
-<message>
-    <source>Waiting to start</source>
-    <translation>Warten auf Start</translation>
-</message>
-<message>
-    <source>System Unresponsive</source>
-    <translation>System reagiert nicht</translation>
-</message>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot nicht verfügbar</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>ÜBERNIMM SOFORT DIE KONTROLLE</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Gerät neu starten</translation>
+    </message>
+    <message>
+        <source>Waiting to start</source>
+        <translation>Warten auf Start</translation>
+    </message>
+    <message>
+        <source>System Unresponsive</source>
+        <translation>System reagiert nicht</translation>
+    </message>
 </context>
 <context>
     <name>PairingPopup</name>
@@ -514,10 +514,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
         <translation>Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden</translation>
     </message>
-<message>
-    <source>Please connect to Wi-Fi to complete initial pairing</source>
-    <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
-</message>
+    <message>
+        <source>Please connect to Wi-Fi to complete initial pairing</source>
+        <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
+    </message>
 </context>
 <context>
     <name>ParamControl</name>
@@ -548,18 +548,18 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>Remote access</source>
         <translation>Fernzugriff</translation>
     </message>
-<message>
-    <source>24/7 LTE connectivity</source>
-    <translation>24/7 LTE-Verbindung</translation>
-</message>
-<message>
-    <source>1 year of drive storage</source>
-    <translation>Fahrdaten-Speicherung für 1 Jahr</translation>
-</message>
-<message>
-    <source>Remote snapshots</source>
-    <translation>Remote-Snapshots</translation>
-</message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>24/7 LTE-Verbindung</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>Fahrdaten-Speicherung für 1 Jahr</translation>
+    </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation>Remote-Snapshots</translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -607,10 +607,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
             <numerusform>vor %n Tagen</numerusform>
         </translation>
     </message>
-<message>
-    <source>now</source>
-    <translation>jetzt</translation>
-</message>
+    <message>
+        <source>now</source>
+        <translation>jetzt</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -638,20 +638,20 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere
         <source>Confirm</source>
         <translation>Bestätigen</translation>
     </message>
-<message>
-    <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-    <translation>Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen.</translation>
-</message>
-<message>
-    <source>Resetting device...
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
 This may take up to a minute.</source>
-    <translation>Gerät wird zurückgesetzt...
+        <translation>Gerät wird zurückgesetzt...
 Dies kann bis zu einer Minute dauern.</translation>
-</message>
-<message>
-    <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-    <translation>System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen.</translation>
-</message>
+    </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen.</translation>
+    </message>
 </context>
 <context>
     <name>SettingsWindow</name>
@@ -675,14 +675,14 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
-<message>
-    <source>Developer</source>
-    <translation>Entwickler</translation>
-</message>
-<message>
-    <source>Firehose</source>
-    <translation>Firehose</translation>
-</message>
+    <message>
+        <source>Developer</source>
+        <translation>Entwickler</translation>
+    </message>
+    <message>
+        <source>Firehose</source>
+        <translation>Firehose</translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -754,30 +754,30 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Start over</source>
         <translation>Von neuem beginnen</translation>
     </message>
-<message>
-    <source>No custom software found at this URL.</source>
-    <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
-</message>
-<message>
-    <source>Something went wrong. Reboot the device.</source>
-    <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
-</message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
+    </message>
     <message>
         <source>Select a language</source>
         <translation>Sprache wählen</translation>
     </message>
-<message>
-    <source>Choose Software to Install</source>
-    <translation>Wähle die zu installierende Software</translation>
-</message>
-<message>
-    <source>openpilot</source>
-    <translation>openpilot</translation>
-</message>
-<message>
-    <source>Custom Software</source>
-    <translation>Benutzerdefinierte Software</translation>
-</message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation>Wähle die zu installierende Software</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation>Benutzerdefinierte Software</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -925,26 +925,26 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Uninstall</source>
         <translation>Deinstallieren</translation>
     </message>
-<message>
-    <source>failed to check for update</source>
-    <translation>Update-Prüfung fehlgeschlagen</translation>
-</message>
-<message>
-    <source>up to date, last checked %1</source>
-    <translation>Auf dem neuesten Stand, zuletzt geprüft am %1</translation>
-</message>
-<message>
-    <source>DOWNLOAD</source>
-    <translation>HERUNTERLADEN</translation>
-</message>
-<message>
-    <source>update available</source>
-    <translation>Update verfügbar</translation>
-</message>
-<message>
-    <source>never</source>
-    <translation>nie</translation>
-</message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>Update-Prüfung fehlgeschlagen</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>Auf dem neuesten Stand, zuletzt geprüft am %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>HERUNTERLADEN</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>Update verfügbar</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nie</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -1002,14 +1002,14 @@ Dies kann bis zu einer Minute dauern.</translation>
         <source>Agree</source>
         <translation>Zustimmen</translation>
     </message>
-<message>
-    <source>Welcome to openpilot</source>
-    <translation>Willkommen bei openpilot</translation>
-</message>
-<message>
-    <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-    <translation>Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;, bevor du fortfährst.</translation>
-</message>
+    <message>
+        <source>Welcome to openpilot</source>
+        <translation>Willkommen bei openpilot</translation>
+    </message>
+    <message>
+        <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
+        <translation>Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;, bevor du fortfährst.</translation>
+    </message>
 </context>
 <context>
     <name>TogglesPanel</name>
@@ -1073,54 +1073,54 @@ Dies kann bis zu einer Minute dauern.</translation>
         <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>Aggressive</source>
-    <translation>Aggressiv</translation>
-</message>
-<message>
-    <source>Standard</source>
-    <translation>Standard</translation>
-</message>
-<message>
-    <source>Relaxed</source>
-    <translation>Entspannt</translation>
-</message>
-<message>
-    <source>Driving Personality</source>
-    <translation>Fahrstil</translation>
-</message>
-<message>
-    <source>End-to-End Longitudinal Control</source>
-    <translation>Ende-zu-Ende Längsregelung</translation>
-</message>
-<message>
-    <source>openpilot longitudinal control may come in a future update.</source>
-    <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
-</message>
-<message>
-    <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-    <translation>Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden.</translation>
-</message>
-<message>
-    <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-    <translation>Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben.</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>Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln.</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>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
-</message>
-<message>
-    <source>Always-On Driver Monitoring</source>
-    <translation>Dauerhaft aktive Fahrerüberwachung</translation>
-</message>
-<message>
-    <source>Enable driver monitoring even when openpilot is not engaged.</source>
-    <translation>Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist.</translation>
-</message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Aggressiv</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Standard</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Entspannt</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Fahrstil</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>Ende-zu-Ende Längsregelung</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben.</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>Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln.</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>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>Dauerhaft aktive Fahrerüberwachung</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist.</translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1159,18 +1159,18 @@ Dies kann bis zu einer Minute dauern.</translation>
 </context>
 <context>
     <name>WiFiPromptWidget</name>
-<message>
-    <source>Open</source>
-    <translation>Öffnen</translation>
-</message>
-<message>
-    <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-    <translation>Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern.</translation>
-</message>
-<message>
-    <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-    <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose-Modus &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
-</message>
+    <message>
+        <source>Open</source>
+        <translation>Öffnen</translation>
+    </message>
+    <message>
+        <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
+        <translation>Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern.</translation>
+    </message>
+    <message>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose-Modus &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
+    </message>
 </context>
 <context>
     <name>WifiUI</name>

From 34514ef1761037127cc009e5e95b7478b5fc1ad6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 21 Apr 2025 14:11:57 -0700
Subject: [PATCH 74/91] Long planner: make work with training (#35043)

* revert useless

* update ref
---
 selfdrive/controls/lib/longitudinal_planner.py | 6 +++---
 selfdrive/test/process_replay/ref_commit       | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 104c7c9d49..4219e80f33 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -52,6 +52,7 @@ class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    self.mpc.mode = 'acc'
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -89,7 +90,6 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mpc.mode = 'acc'
     self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
@@ -97,7 +97,7 @@ class LongitudinalPlanner:
     else:
       accel_coast = ACCEL_MAX
 
-    v_ego = sm['modelV2'].velocity.x[0]
+    v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
     v_cruise_initialized = sm['carState'].vCruise != V_CRUISE_UNSET
@@ -129,7 +129,7 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
-    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], 0)
+    x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error)
     # Don't clip at low speeds since throttle_prob doesn't account for creep
     self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 5f89d7802d..4b3ef33407 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-0800e73b5d9c801f161b9559557c0559b0682fec
\ No newline at end of file
+fcc771b9ceb487a61035885acbd84e592fb316bf
\ No newline at end of file

From 33a7d853f00d7f6f9d1ffc13160816b6106aec72 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 21 Apr 2025 15:10:41 -0700
Subject: [PATCH 75/91] Modeld: small refactor (#35044)

refactor
---
 selfdrive/controls/lib/drive_helpers.py | 3 +++
 selfdrive/modeld/modeld.py              | 8 +-------
 2 files changed, 4 insertions(+), 7 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 9958755577..038061b7e6 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -19,6 +19,9 @@ def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
 
+def smooth_value(val, prev_val, tau):
+  alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val
 
 def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 0ad629f519..1060b36d28 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -26,15 +26,13 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 
-
-
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
@@ -46,10 +44,6 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p
 LAT_SMOOTH_SECONDS = 0.3
 LONG_SMOOTH_SECONDS = 0.3
 
-def smooth_value(val, prev_val, tau):
-  alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
-  return alpha * val + (1 - alpha) * prev_val
-
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
                           lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:

From a029d13398c0408b4ebcf7fa916474f5e3d79129 Mon Sep 17 00:00:00 2001
From: Bruce Wayne <harald.the.engineer@gmail.com>
Date: Mon, 21 Apr 2025 15:44:30 -0700
Subject: [PATCH 76/91] update smooth

---
 selfdrive/controls/lib/drive_helpers.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 038061b7e6..3f99f1bbbb 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -19,8 +19,8 @@ def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
 
-def smooth_value(val, prev_val, tau):
-  alpha = 1 - np.exp(-DT_MDL / tau) if tau > 0 else 1
+def smooth_value(val, prev_val, tau, dt=DT_MDL):
+  alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
   return alpha * val + (1 - alpha) * prev_val
 
 def clip_curvature(v_ego, prev_curvature, new_curvature, roll):

From a9b9e0bb54dda1613e8347efe146a78d6ce6bc71 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 21 Apr 2025 16:13:55 -0700
Subject: [PATCH 77/91] raylib: init updater (#35045)

* raylib: init updater

* cleanup
---
 system/ui/updater.py | 197 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 197 insertions(+)
 create mode 100755 system/ui/updater.py

diff --git a/system/ui/updater.py b/system/ui/updater.py
new file mode 100755
index 0000000000..eb9d766a16
--- /dev/null
+++ b/system/ui/updater.py
@@ -0,0 +1,197 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_text_box, gui_label
+
+# Constants
+MARGIN = 50
+BUTTON_HEIGHT = 160
+BUTTON_WIDTH = 400
+PROGRESS_BAR_HEIGHT = 72
+TITLE_FONT_SIZE = 80
+BODY_FONT_SIZE = 65
+BACKGROUND_COLOR = rl.BLACK
+PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
+PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+
+
+class Updater:
+  def __init__(self, updater_path, manifest_path):
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+
+    self.progress_value = 0
+    self.progress_text = "Loading..."
+    self.show_reboot_button = False
+    self.process = None
+    self.update_thread = None
+
+  def install_update(self):
+    self.current_screen = Screen.PROGRESS
+    self.progress_value = 0
+    self.progress_text = "Downloading..."
+    self.show_reboot_button = False
+
+    # Start the update process in a separate thread
+    self.update_thread = threading.Thread(target=self._run_update_process)
+    self.update_thread.daemon = True
+    self.update_thread.start()
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    cmd = [self.updater, "--swap", self.manifest]
+    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                   text=True, bufsize=1, universal_newlines=True)
+
+    for line in self.process.stdout:
+      parts = line.strip().split(":")
+      if len(parts) == 2:
+        self.progress_text = parts[0]
+        try:
+          self.progress_value = int(float(parts[1]))
+        except ValueError:
+          pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+
+  def render_prompt_screen(self):
+    # Title
+    title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
+
+    # Description
+    desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \
+                 The download size is approximately 1GB."
+    desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3)
+    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+
+    # Buttons at the bottom
+    button_y = gui_app.height - MARGIN - BUTTON_HEIGHT
+    button_width = (gui_app.width - MARGIN * 3) // 2
+
+    # WiFi button
+    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(wifi_button_rect, "Connect to Wi-Fi"):
+      self.current_screen = Screen.WIFI
+      return  # Return to avoid processing other buttons after screen change
+
+    # Install button
+    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY):
+      self.install_update()
+      return  # Return to avoid further processing after action
+
+  def render_wifi_screen(self):
+    # Title and back button
+    title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60)
+    gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD)
+
+    back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+    if gui_button(back_button_rect, "Back"):
+      self.current_screen = Screen.PROMPT
+      return  # Return to avoid processing other interactions after screen change
+
+    # Draw placeholder for WiFi implementation
+    placeholder_rect = rl.Rectangle(
+      MARGIN,
+      title_rect.y + title_rect.height + MARGIN,
+      gui_app.width - MARGIN * 2,
+      gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT
+    )
+
+    # Draw rounded rectangle background
+    rl.draw_rectangle_rounded(
+      placeholder_rect,
+      0.1,
+      10,
+      rl.Color(41, 41, 41, 255)
+    )
+
+    # Draw placeholder text
+    placeholder_text = "WiFi Implementation Placeholder"
+    text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1)
+    text_pos = rl.Vector2(
+      placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2,
+      placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2
+    )
+    rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE)
+
+    # Draw instructions
+    instructions_text = "Real WiFi functionality would be implemented here"
+    instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1)
+    instructions_pos = rl.Vector2(
+      placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2,
+      text_pos.y + text_size.y + 20
+    )
+    rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY)
+
+  def render_progress_screen(self):
+    title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100)
+    gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
+
+    # Progress bar
+    bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
+    rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
+
+    # Calculate the width of the progress chunk
+    progress_width = (bar_rect.width * self.progress_value) / 100
+    if progress_width > 0:
+      progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
+      rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
+
+    # Show reboot button if needed
+    if self.show_reboot_button:
+      reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+      if gui_button(reboot_rect, "Reboot"):
+        # Return True to signal main loop to exit before rebooting
+        HARDWARE.reboot()
+        return
+
+  def render(self):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen()
+    elif self.current_screen == Screen.WIFI:
+      self.render_wifi_screen()
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen()
+
+
+def main():
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    for _ in gui_app.render():
+      updater.render()
+  finally:
+    # Make sure we clean up even if there's an error
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()

From aaaa2d0dd064364d647fb381cc488fe6fe4d44e2 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 21 Apr 2025 17:02:36 -0700
Subject: [PATCH 78/91] Revert "OS04C10: use IFE downscaler for road cameras"
 (#35046)

Revert "OS04C10: use IFE downscaler for road cameras (#35023)"

This reverts commit 3b60b22ceeb090812e5fa948ac6e56442d681dc4.
---
 system/camerad/cameras/camera_common.cc    |  3 ++
 system/camerad/cameras/camera_common.h     |  2 +-
 system/camerad/cameras/camera_qcom2.cc     | 10 ++--
 system/camerad/cameras/ife.h               | 18 ++++----
 system/camerad/cameras/spectra.cc          | 40 +++++++---------
 system/camerad/sensors/os04c10.cc          | 11 -----
 system/camerad/sensors/os04c10_registers.h | 54 ++++++++--------------
 system/camerad/sensors/sensor.h            |  2 -
 8 files changed, 53 insertions(+), 87 deletions(-)

diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 1f6ad9b4be..f6c2681dea 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -26,6 +26,9 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
+  out_img_width = sensor->frame_width;
+  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
+
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index c26859cbc4..c0426678b6 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -32,7 +32,7 @@ public:
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  uint32_t out_img_width, out_img_height;
+  int out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 8c4602bb31..18a42f05d8 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
 
   if (!camera.enabled) return;
 
-  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
   set_exposure_rect();
 
   dc_gain_weight = camera.sensor->dc_gain_min_weight;
@@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index fd87d2baa4..49737f2db7 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
 }
 
 
-int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
   uint8_t *start = dst;
 
   // start with the every frame config
@@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   // output size/scaling
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
-    ((out_width - 1) << 16) | (s->frame_width - 1),
+    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
     0x30036666,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((out_height - 1) << 16) | (s->frame_height - 1),
+    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
     0x30036666,
     0x00000000,
     0x00000000,
@@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   });
   dst += write_cont(dst, 0xa68, {
     0x00000003,
-    ((out_width / 2 - 1) << 16) | (s->frame_width - 1),
+    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((out_height / 2 - 1) << 16) | (s->frame_height - 1),
+    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
@@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
 
   // cropping
   dst += write_cont(dst, 0xe10, {
-    out_height - 1,
-    out_width - 1,
+    s->frame_height - 1,
+    s->frame_width - 1,
   });
   dst += write_cont(dst, 0xe30, {
-    out_height / 2 - 1,
-    out_width - 1,
+    s->frame_height/2 - 1,
+    s->frame_width - 1,
   });
   dst += write_cont(dst, 0xe18, {
     0x0ff00000,
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 47ae9061f4..4535078771 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -281,21 +281,18 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   if (!enabled) return;
 
-  buf.out_img_width = sensor->frame_width / sensor->out_scale;
-  buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
-
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
   if (cc.output_type != ISP_RAW_OUTPUT) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
   assert(y_height/2 == uv_height);
 
   open = true;
@@ -648,14 +645,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
     io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
     io_cfg[1].planes[0] = (struct cam_plane_cfg){
-      .width = buf.out_img_width,
-      .height = buf.out_img_height,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height,
       .plane_stride = stride,
       .slice_height = y_height,
     };
     io_cfg[1].planes[1] = (struct cam_plane_cfg){
-      .width = buf.out_img_width,
-      .height = buf.out_img_height / 2,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height/2,
       .plane_stride = stride,
       .slice_height = uv_height,
     };
@@ -740,7 +737,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       } else {
         buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
@@ -847,14 +844,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
       io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
-        .width = buf.out_img_width,
-        .height = buf.out_img_height,
+        .width = sensor->frame_width,
+        .height = sensor->frame_height,
         .plane_stride = stride,
         .slice_height = y_height,
       };
       io_cfg[0].planes[1] = (struct cam_plane_cfg){
-        .width = buf.out_img_width,
-        .height = buf.out_img_height / 2,
+        .width = sensor->frame_width,
+        .height = sensor->frame_height/2,
         .plane_stride = stride,
         .slice_height = uv_height,
       };
@@ -996,9 +993,6 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
-    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
-      ((OS04C10*)s)->ife_downscale_configure();
-    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1071,8 +1065,8 @@ void SpectraCamera::configISP() {
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_FULL,
       .format = CAM_FORMAT_NV12,
-      .width = buf.out_img_width,
-      .height = buf.out_img_height + sensor->extra_height,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
@@ -1147,8 +1141,8 @@ void SpectraCamera::configICP() {
     },
     .out_res[0] = (struct cam_icp_res_info){
       .format = 0x3,  // YUV420NV12
-      .width = buf.out_img_width,
-      .height = buf.out_img_height,
+      .width = sensor->frame_width,
+      .height = sensor->frame_height,
       .fps = 20,
     },
   };
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 38be4ecca4..d008e1d07b 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -20,17 +20,6 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
-void OS04C10::ife_downscale_configure() {
-  out_scale = 2;
-
-  pixel_size_mm = 0.002;
-  frame_width = 2688;
-  frame_height = 1520;
-  exposure_time_max = 2352;
-
-  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
-}
-
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index b501656090..8b1c78c69d 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -88,6 +88,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
+  // {0x3829, 0x03},
+  // {0x3832, 0x00},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
@@ -197,6 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0x48},
   {0x370c, 0x01},
   {0x370f, 0x00},
+  {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -228,6 +231,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
+  {0x37c2, 0x14},
   {0x37cd, 0x19},
   {0x37e0, 0x08},
   {0x37e6, 0x04},
@@ -237,9 +241,14 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37d8, 0x02},
   {0x37e2, 0x10},
   {0x3739, 0x10},
+  {0x3662, 0x08},
   {0x37e4, 0x20},
   {0x37e3, 0x08},
+  {0x37d9, 0x04},
   {0x4040, 0x00},
+  {0x4041, 0x03},
+  {0x4008, 0x01},
+  {0x4009, 0x06},
 
   // FSIN
   {0x3002, 0x22},
@@ -260,11 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
+  {0x3808, 0x05}, {0x3809, 0x40},
+  {0x380a, 0x02}, {0x380b, 0xf8},
   {0x3811, 0x08},
   {0x3813, 0x08},
+  {0x3814, 0x03},
   {0x3815, 0x01},
+  {0x3816, 0x03},
   {0x3817, 0x01},
 
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+
+  {0x3820, 0xb3},
+  {0x3821, 0x01},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
@@ -313,40 +331,4 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // r
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
-
-  {0x3714, 0x28},
-  {0x37c2, 0x14},
-  {0x3662, 0x08},
-  {0x37d9, 0x04},
-  {0x4041, 0x03},
-  {0x4008, 0x01},
-  {0x4009, 0x06},
-  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x02}, {0x380b, 0xf8},
-  {0x3814, 0x03},
-  {0x3816, 0x03},
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
-  {0x3820, 0xb3},
-  {0x3821, 0x01},
-};
-
-const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
-  {0x3829, 0x03},
-  {0x3714, 0x24},
-  {0x37c2, 0x04},
-  {0x3662, 0x10},
-  {0x37d9, 0x08},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
-  {0x3814, 0x01},
-  {0x3816, 0x01},
-  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
-  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
-  {0x3820, 0xb0},
-  {0x3821, 0x00},
 };
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index d4be3cf036..c1131aafdf 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -29,7 +29,6 @@ public:
   uint32_t frame_stride;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
-  int out_scale = 1;
   int registers_offset = -1;
   int stats_offset = -1;
   int hdr_offset = -1;
@@ -110,7 +109,6 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
-  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;

From 8cefc00a6e67499eddf4fadb8eb4f1f491a50bd7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Mon, 21 Apr 2025 17:06:53 -0700
Subject: [PATCH 79/91] Tomb Raider 3 (#35042)

* 92b64884-4506-4a03-87ad-33e1a177fe73/400

* faster lat
---
 selfdrive/modeld/modeld.py                  | 2 +-
 selfdrive/modeld/models/driving_policy.onnx | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1060b36d28..1d0facd133 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -41,7 +41,7 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
-LAT_SMOOTH_SECONDS = 0.3
+LAT_SMOOTH_SECONDS = 0.1
 LONG_SMOOTH_SECONDS = 0.3
 
 
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 3bf2e01b5e..df11e590dd 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:fa00a07a4307b0f1638a10ec33b651d8a102e38371289b744f43215c89dfd342
+oid sha256:84061882148485dabfdd23ee7e0925284a4370d0ae5be804d6099ae847352891
 size 15578328

From 0102a1c704dcf3b5dc00e98fa1390a993507acb2 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 22 Apr 2025 00:03:06 -0400
Subject: [PATCH 80/91] DM: Use `carControl.latActive` for MADS DM monitoring
 (#845)

---
 selfdrive/monitoring/dmonitoringd.py | 2 +-
 selfdrive/monitoring/helpers.py      | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index d0d28ebac1..71733f99fc 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -11,7 +11,7 @@ def dmonitoringd_thread():
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
-                            'selfdriveStateSP'], poll='driverStateV2')
+                            'carControl'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 0ff7a52a92..67776994f0 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active,
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo

From fd0d4a5aab7d3c34fb649f5ca330a5871390168d Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Tue, 22 Apr 2025 14:54:18 +0200
Subject: [PATCH 81/91] ci: fixes for trigger conditions on sync (#847)

pull_request_target is needed for security, but at the same time it makes life a little harder because the ref is different so we need to do some work to make sure we get what we are supposed to get
---
 .../workflows/sunnypilot-build-prebuilt.yaml   | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index 156e10515b..c203edfa75 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -54,11 +54,13 @@ jobs:
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
       commit_sha: ${{ steps.set-env.outputs.commit_sha }}
-    if: always() && !failure() && !cancelled()
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
+          ref: ${{ github.head_ref || github.ref_name }}
+          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
       - name: Cache SCons
@@ -75,15 +77,16 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}
 
       - name: Set Configuration
+        if: (!github.event.pull_request.head.repo.fork)
         run: |
-          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
+          if [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
             # Dev configuration
             echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
             echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
             echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
           
-          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
+          elif [[ "${{ github.head_ref || github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
             # Master configuration
             echo "BRANCH_TYPE=master" >> $GITHUB_ENV
             echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
@@ -103,6 +106,13 @@ jobs:
             echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
             echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
           fi
+          
+      - name: Set Configuration (only forks)
+        if: (github.event.pull_request.head.repo.fork)
+        run: |
+          echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
+          echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-fork-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
 
       - name: Set environment variables
         id: set-env
@@ -258,7 +268,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: ${{ (always() && !failure() && !cancelled()) }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment

From 23524e203826ca944ffbff9789ec9765ba2b6c8e Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 22 Apr 2025 15:28:54 +0100
Subject: [PATCH 82/91] ui(raylib): reduce spinner rotation artifact (#35048)

* ui(raylib): reduce spinner rotation artifact

A visual artifact (white pixels) appeared on the edge of the
rotating spinner track texture, likely due to RGB color bleed during
bilinear filtering in Raylib.

Pre-multiplying the alpha channel of the spinner track image using
`rl.image_alpha_premultiply` significantly reduces the visibility of the
artifact.

* lint
---
 system/ui/lib/application.py | 4 +++-
 system/ui/spinner.py         | 3 ++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 470396bbc7..23f9316c3a 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -50,9 +50,11 @@ class GuiApplication:
     self._set_styles()
     self._load_fonts()
 
-  def load_texture_from_image(self, file_name: str, width: int, height: int):
+  def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False):
     """Load and resize a texture, storing it for later automatic unloading."""
     image = rl.load_image(file_name)
+    if alpha_premultiply:
+      rl.image_alpha_premultiply(image)
     rl.image_resize(image, width, height)
     texture = rl.load_texture_from_image(image)
     # Set texture filtering to smooth the result
diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index adfb604de9..f3724cbd1e 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -23,7 +23,8 @@ def clamp(value, min_value, max_value):
 class Spinner:
   def __init__(self):
     self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
-    self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
+    self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE,
+                                                            alpha_premultiply=True)
     self._rotation = 0.0
     self._text: str = ""
     self._progress: int | None = None

From 651ff78cb051280513c297ac1ab356eb164116e8 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 22 Apr 2025 16:07:05 +0100
Subject: [PATCH 83/91] ui(raylib): increase font size and wrap text in spinner
 (#35049)

- Wrap text onto separate lines
- Increase font size to be closer to Qt
- Remove extra letter spacing - 0.0 should use font default spacing, and this is used in `wrap_text`

Will fix vertical alignment separately, as both the text and progress bar layouts need to be considered
---
 system/ui/spinner.py | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index f3724cbd1e..fd4264be6c 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -5,14 +5,17 @@ import threading
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.text import wrap_text
 
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
 DEGREES_PER_SECOND = 360.0  # one full rotation per second
-MARGIN = 200
+MARGIN_H = 100
+MARGIN_V = 200
 TEXTURE_SIZE = 360
-FONT_SIZE = 80
+FONT_SIZE = 88
+LINE_HEIGHT = 96
 DARKGRAY = (55, 55, 55, 255)
 
 
@@ -26,18 +29,18 @@ class Spinner:
     self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE,
                                                             alpha_premultiply=True)
     self._rotation = 0.0
-    self._text: str = ""
     self._progress: int | None = None
+    self._wrapped_lines: list[str] = []
     self._lock = threading.Lock()
 
   def set_text(self, text: str) -> None:
     with self._lock:
       if text.isdigit():
         self._progress = clamp(int(text), 0, 100)
-        self._text = ""
+        self._wrapped_lines = []
       else:
         self._progress = None
-        self._text = text
+        self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
 
   def render(self):
     center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
@@ -54,10 +57,10 @@ class Spinner:
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
     # Display progress bar or text based on user input
-    y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
+    y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT
     with self._lock:
       progress = self._progress
-      text = self._text
+      wrapped_lines = self._wrapped_lines
 
     if progress is not None:
       bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
@@ -65,10 +68,11 @@ class Spinner:
 
       bar.width *= progress / 100.0
       rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
-    elif text:
-      text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
-      rl.draw_text_ex(gui_app.font(), text,
-                      rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
+    elif wrapped_lines:
+      for i, line in enumerate(wrapped_lines):
+        text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0)
+        rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT),
+                        FONT_SIZE, 0.0, rl.WHITE)
 
 
 if __name__ == "__main__":

From c9259a9bcfd86f77c0d336b470c1f72cbfd073e8 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 22 Apr 2025 20:54:36 +0100
Subject: [PATCH 84/91] ui(raylib): update spinner vertical pos (#35051)

Adjust the spinner vertical position when displaying text or a progress bar

- When displaying the progress bar, center the comma logo and spinner in the middle of the screen
- When displaying text, center the entire content vertically

Also updated `wrap_text` to not include an empty line in the array if it's the first line, so that `wrap_text("")` always returns `[]`
---
 system/ui/spinner.py | 23 ++++++++++++++++-------
 system/ui/text.py    |  4 +++-
 2 files changed, 19 insertions(+), 8 deletions(-)

diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index fd4264be6c..9c1882cf5f 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -12,7 +12,6 @@ PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
 DEGREES_PER_SECOND = 360.0  # one full rotation per second
 MARGIN_H = 100
-MARGIN_V = 200
 TEXTURE_SIZE = 360
 FONT_SIZE = 88
 LINE_HEIGHT = 96
@@ -43,7 +42,22 @@ class Spinner:
         self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
 
   def render(self):
-    center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
+    with self._lock:
+      progress = self._progress
+      wrapped_lines = self._wrapped_lines
+
+    if wrapped_lines:
+      # Calculate total height required for spinner and text
+      spacing = 50
+      total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT
+      center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
+    else:
+      # Center spinner vertically
+      spacing = 150
+      center_y = gui_app.height / 2.0
+    y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
+
+    center = rl.Vector2(gui_app.width / 2.0, center_y)
     spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
     comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
@@ -57,11 +71,6 @@ class Spinner:
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
     # Display progress bar or text based on user input
-    y_pos = rl.get_screen_height() - MARGIN_V - PROGRESS_BAR_HEIGHT
-    with self._lock:
-      progress = self._progress
-      wrapped_lines = self._wrapped_lines
-
     if progress is not None:
       bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
       rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
diff --git a/system/ui/text.py b/system/ui/text.py
index 4ea886ba1e..79c20ce8dc 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -21,7 +21,9 @@ def wrap_text(text, font_size, max_width):
 
   for paragraph in text.split("\n"):
     if not paragraph.strip():
-      lines.append("")
+      # Don't add empty lines first, ensuring wrap_text("") returns []
+      if lines:
+        lines.append("")
       continue
     indent = re.match(r"^\s*", paragraph).group()
     current_line = indent

From f9767d265010101f123dcdc261206cb7be8bb5d8 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 22 Apr 2025 22:07:47 +0100
Subject: [PATCH 85/91] ui(raylib): "exit" btn in text window on PC (#35052)

* ui(raylib): "exit" btn in text window on PC

* unused import
---
 system/ui/text.py | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/system/ui/text.py b/system/ui/text.py
index 79c20ce8dc..9c7101dfe8 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import re
 import pyray as rl
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
@@ -58,9 +58,12 @@ class TextWindow:
     rl.end_scissor_mode()
 
     button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
     if ret:
-      HARDWARE.reboot()
+      if PC:
+        gui_app.close()
+      else:
+        HARDWARE.reboot()
     return ret
 
 

From 754f5aa95590f7bc98c8f4f8fbe3f7f2a0a18e96 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Tue, 22 Apr 2025 22:30:20 +0100
Subject: [PATCH 86/91] Revert "ui(raylib): "exit" btn in text window on PC
 (#35052)"

This reverts commit f9767d265010101f123dcdc261206cb7be8bb5d8.
---
 system/ui/text.py | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/system/ui/text.py b/system/ui/text.py
index 9c7101dfe8..79c20ce8dc 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import re
 import pyray as rl
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
@@ -58,12 +58,9 @@ class TextWindow:
     rl.end_scissor_mode()
 
     button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
     if ret:
-      if PC:
-        gui_app.close()
-      else:
-        HARDWARE.reboot()
+      HARDWARE.reboot()
     return ret
 
 

From 7b5468b2e8457856acbf3213be9ef0379a10597e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Tue, 22 Apr 2025 14:50:03 -0700
Subject: [PATCH 87/91] plotjuggler: support relative paths (#35054)

* Support relative paths

* Abspath for rlog too
---
 tools/plotjuggler/juggle.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index f66782d6f3..34f33d1959 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
   env["BASEDIR"] = BASEDIR
   env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
   if dbc:
+    if os.path.exists(dbc):
+      dbc = os.path.abspath(dbc)
     env["DBC_NAME"] = dbc
 
   extra_args = ""
   if fn is not None:
-    extra_args += f" -d {fn}"
+    extra_args += f" -d {os.path.abspath(fn)}"
   if layout is not None:
-    extra_args += f" -l {layout}"
+    extra_args += f" -l {os.path.abspath(layout)}"
   if route_or_segment_name is not None:
     extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
 

From 281a72780b8e8b97fb12d983a29edc1f4f242aeb Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Wed, 23 Apr 2025 14:06:09 +0100
Subject: [PATCH 88/91] Reapply "ui(raylib): "exit" btn in text window on PC"
 (#35053)

* ui(raylib): "exit" btn in text window on PC

* unused import

* request close

* this was missing
---
 system/ui/lib/application.py |  6 +++++-
 system/ui/text.py            | 10 +++++++---
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 23f9316c3a..f5a238b81e 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -38,6 +38,10 @@ class GuiApplication:
     self._textures: list[rl.Texture] = []
     self._target_fps: int = DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
+    self._window_close_requested = False
+
+  def request_close(self):
+    self._window_close_requested = True
 
   def init_window(self, title: str, fps: int=DEFAULT_FPS):
     atexit.register(self.close)  # Automatically call close() on exit
@@ -80,7 +84,7 @@ class GuiApplication:
     rl.close_window()
 
   def render(self):
-    while not rl.window_should_close():
+    while not (self._window_close_requested or rl.window_should_close()):
       rl.begin_drawing()
       rl.clear_background(rl.BLACK)
 
diff --git a/system/ui/text.py b/system/ui/text.py
index 79c20ce8dc..1337887d9b 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import re
 import pyray as rl
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
@@ -58,9 +58,12 @@ class TextWindow:
     rl.end_scissor_mode()
 
     button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
     if ret:
-      HARDWARE.reboot()
+      if PC:
+        gui_app.request_close()
+      else:
+        HARDWARE.reboot()
     return ret
 
 
@@ -69,6 +72,7 @@ def show_text_in_window(text: str):
   text_window = TextWindow(text)
   for _ in gui_app.render():
     text_window.render()
+  gui_app.close()
 
 
 if __name__ == "__main__":

From a38dcbb3fed278da25c3b8f3d538bdc43fab65d1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Wed, 23 Apr 2025 14:15:06 -0700
Subject: [PATCH 89/91] Disable low speed steer in modeld (#35056)

* disable low speed steer

* No steer under
---
 selfdrive/modeld/modeld.py | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1d0facd133..b89c8bad57 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -43,10 +43,11 @@ POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.p
 
 LAT_SMOOTH_SECONDS = 0.1
 LONG_SMOOTH_SECONDS = 0.3
+MIN_LAT_CONTROL_SPEED = 0.3
 
 
 def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
-                          lat_action_t: float, long_action_t: float,) -> log.ModelDataV2.Action:
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
     plan = model_output['plan'][0]
     desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
                                                      plan[:,Plan.ACCELERATION][:,0],
@@ -55,7 +56,10 @@ def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.
     desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
 
     desired_curvature = model_output['desired_curvature'][0, 0]
-    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
 
     return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
                                   desiredAcceleration=float(desired_accel),
@@ -331,7 +335,7 @@ def main(demo=False):
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
 
-      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL)
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
       prev_action = action
       fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,

From 63a188d2e01b5891225806b887b315b114ded3b0 Mon Sep 17 00:00:00 2001
From: Warren Togami <wtogami@gmail.com>
Date: Wed, 23 Apr 2025 20:23:40 -0500
Subject: [PATCH 90/91] TOYOTA_RAV4_PRIME NNLC tuning gen 1 (#850)

neural_network_data: TOYOTA_RAV4_PRIME NNLC tuning gen 1
---
 sunnypilot/neural_network_data | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
index 61dbe23f5d..16946bfd9c 160000
--- a/sunnypilot/neural_network_data
+++ b/sunnypilot/neural_network_data
@@ -1 +1 @@
-Subproject commit 61dbe23f5d6e3086cc549f7c598090256ad6bd87
+Subproject commit 16946bfd9cca1a33e8b609d10ca3d1a0089d38e2

From be168d14e9e402237a01178766af0be8c9b8d4e4 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sat, 26 Apr 2025 19:33:35 +0200
Subject: [PATCH 91/91] SL: updating localproxy implementation (#841)

* Adding capabilities to route localProxy via sunnylink

* Undo

* Thx lint

* get api token

* cert is not valid when it's an IP. Still use cert, but don't validate
---
 sunnypilot/sunnylink/athena/sunnylinkd.py | 17 ++++++++++++++--
 sunnypilot/sunnylink/utils.py             |  9 +++++++++
 system/athena/athenad.py                  | 24 +++++++++++++----------
 3 files changed, 38 insertions(+), 12 deletions(-)

diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 2c4b95fa46..a675820628 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -10,11 +10,12 @@ import threading
 import time
 
 from jsonrpc import dispatcher
+from functools import partial
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -50,7 +51,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [
-              threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
+              threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
               for x in range(HANDLER_THREADS)
             ]
 
@@ -201,6 +202,18 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
 
+def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  cloudlog.debug("athena.startLocalProxy.starting")
+  ws = create_connection(
+    remote_ws_uri,
+    header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
+    enable_multithread=True,
+    sslopt={"cert_reqs": ssl.CERT_NONE}
+  )
+
+  return start_local_proxy_shim(global_end_event, local_port, ws)
+
+
 def main(exit_event: threading.Event = None):
   try:
     set_core_affinity([0, 1, 2, 3])
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 57523d7394..55b1f6f285 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -46,3 +46,12 @@ def register_sunnylink():
 
   sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
   print(f"SunnyLinkId: {sunnylink_id}")
+
+
+def get_api_token():
+  """Get the API token for the device."""
+  params = Params()
+  sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+  token = sunnylink_api.get_token()
+  print(f"API Token: {token}")
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 4bcdc9b83c..3f3fc3d70d 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -184,8 +184,8 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
       thread.join()
 
 
-def jsonrpc_handler(end_event: threading.Event) -> None:
-  dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
+def jsonrpc_handler(end_event: threading.Event, localProxyHandler = None) -> None:
+  dispatcher["startLocalProxy"] = localProxyHandler or partial(startLocalProxy, end_event)
   while not end_event.is_set():
     try:
       data = recv_queue.get(timeout=1)
@@ -480,7 +480,19 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
 
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  cloudlog.debug("athena.startLocalProxy.starting")
+  dongle_id = Params().get("DongleId").decode('utf8')
+  identity_token = Api(dongle_id).get_token()
+  ws = create_connection(remote_ws_uri, cookie="jwt=" + identity_token, enable_multithread=True)
+
+  return start_local_proxy_shim(global_end_event, local_port, ws)
+
+
+def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, ws: WebSocket) -> dict[str, int]:
   try:
+    if ws.sock is None:
+      raise Exception("WebSocket is not connected")
+
     # migration, can be removed once 0.9.8 is out for a while
     if local_port == 8022:
       local_port = 22
@@ -488,14 +500,6 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 
-    cloudlog.debug("athena.startLocalProxy.starting")
-
-    dongle_id = Params().get("DongleId").decode('utf8')
-    identity_token = Api(dongle_id).get_token()
-    ws = create_connection(remote_ws_uri,
-                           cookie="jwt=" + identity_token,
-                           enable_multithread=True)
-
     # Set TOS to keep connection responsive while under load.
     # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
     ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)